A miniature quadrotor helicopter is an underactuated nonlinear system. Usually several types of sensors are used to control it. This article focuses on the emergency situation, when only few sensors are available. These sensors are mainly the inertial ones. Certainly, these sensors are not enough for normal maneuvering, but the controlled system should be able for horizontal stabilization and safe landing. Two types of control are presented. The first is a casual LQ state feedback. The disadvantage of this type of control in real environment is shown. The second control algorithm is an H∞ control method. The control design starts from a very simple linear model. The parameter measurement of the linear system is shown. The goal of this article is to handle the uncertainty in the behavior of the real system.
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