Apart from the four rotor inputs of the quadrotor, I want to know other input and output features must be considered in control of quadrotor using classical control technique.
Dear Abisoye,
The inputs of the quadartor are subjected to constraints, to be able to respect these containers by a judicious choice of the command is the first objective sought in terms of quality driving of the quadrator. Also the problem of controlling the attitude (output)of the quadrator is posed due to the risk of collusion.
For more details please see links and exemples in attached files and publications.
-Advanced UAV Aerodynamics, Flight Stability and Control: Novel ...
https://books.google.dz/books?isbn=1118928687
-How to Make a Drone / UAV - Lesson 4: Flight Controller - RobotShop ...
www.robotshop.com/.../how-to-make-a-drone-uav-lesson-4-flight-...
Best regards
Conference Paper Adaptive tracking control of an underactuated aerial vehicle
Article Modeling and Adaptive Tracking Control of a Quadrotor UAV
Conference Paper Lyapunov-based robust adaptive control of a quadrotor UAV in...
Conference Paper Robust Adaptive Control of Quadrotor Unmanned Aerial Vehicle...
Article 2A2-D04 Modeling and Adaptive Tracking Control of All-Round ...
The only inputs are the rotor speeds. Most control laws control combinations of these commanded rotor speeds. The outputs are whatever can be measured--if you are using a standard AHRS (attitude and heading reference system), it consists of IMU (inertial measurement unit measuring 3 accelerations and 3 angular velocities), GPS (three coordinates of position), magnetometer (three components of geomagnetic field), and altimeter (height above the earth's surface). Most papers, such as the ones posted above, have these. You can also have optical sensors for optic flow that give motion relative to the background, or stereo vision, or lidar/radar that give positions of objects relative to the drone.
it has 4 regularly control inputs rotors speed and my have another not controls input like control disturbance , external disturbance , or sensor noise . the output are in you chose depend by your sensors chose ie. if you use barometer to estimate the altitude then you output is z , but if you use accelerator to estimate the same altitude then your output is z_dot_dot
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