Dp 437 en

The present work refers to the mathematical modeling, experimental identi�cation and control design of a small unmanned indoors quadrotor aircraft, at low translational speeds around the hovering condition, where the aerodynamic forces on the airframe are disregarded. A Kalman �lter is implemented for state estimation and noise �ltering. Linear control techniques such as PID, LQ as well as modern robust mixed-sensitivity H1 and �-synthesis with DK-iteration are employed and compared with each other in terms of ight trajectory reference tracking and parametric and model uncertainty.