Open AccessRobust attitude control of uncertain quadrotors
Author(s) -
Liu Hao,
Bai Yongqiang,
Lu Geng,
Zhong Yisheng
Publication year - 2013
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2012.0964
Subject(s) - control theory (sociology) , robust control , bounded function , controller (irrigation) , computer science , robustness (evolution) , control engineering , attitude control , control (management) , control system , engineering , mathematics , artificial intelligence , mathematical analysis , agronomy , biochemistry , chemistry , gene , electrical engineering , biology
This study presents a controller design method to achieve the robust attitude control for uncertain quadrotors. The proposed linear time‐invariant controller consists of a proportional–derivative (PD) controller and a robust compensator. The PD controller is designed for the nominal linear system to achieve the desired tracking and the robust compensator is added to restrain the influence of the uncertainties. It is proven that attitude tracking errors are bounded and the boundaries can be made as small as desired. Experimental results on the quadrotor are given to confirm the effectiveness of this control method.