Robust flight control of quadrotor unmanned air vehicles

被引：19

作者：

Bai, Yongqiang ^{[1
,2
]}

Liu, Hao ^{[1
]}

Shi, Zongying ^{[1
]}

Zhong, Yisheng ^{[1
]}

机构：

[1] Department of Automation, Tsinghua University, Beijing 100084, China

[2] No.63880 Unit of PLA, China

来源：

Jiqiren/Robot | 2012年 / 34卷 / 05期

关键词：

Aircraft control - Unmanned aerial vehicles (UAV) - Controllers - Attitude control;

D O I：

10.3724/SP.J.1218.2012.00519

中图分类号：

学科分类号：

摘要：

For quadrotor unmanned air vehicles (UAVs) flight control problem, a robust controller design approach is presented. The controller consists of two parts: an inner-loop attitude controller and an outer-loop position controller. The attitude controller is designed with robust control based on signal compensation. The position controller is realized with classical PD method. It is applied to a quadrotor UAV developed in our laboratory to realize indoor hovering. Experimental results demonstrate the effectiveness of this control approach.

引用

页码：519 / 524