Robust attitude control of uncertain quadrotors | Zendy

Liu Hao | Zendy; Bai Yongqiang | Zendy; Lu Geng | Zendy; Zhong Yisheng | Zendy

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Robust 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) , control (management) , computer science , control engineering , robust control , control system , engineering , artificial intelligence , electrical engineering

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.

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