Robust attitude control of uncertain quadrotors

被引：54

作者：

Liu, Hao ^{[1
]}

Bai, Yongqiang ^{[2
]}

Lu, Geng ^{[1
]}

Zhong, Yisheng ^{[1
]}

机构：

[1] Tsinghua Univ, TNList, Dept Automat, Beijing 100084, Peoples R China

[2] Luoyang Elect EquipmentTest Ctr China, Luoyang 471003, Henan Province, Peoples R China

来源：

IET CONTROL THEORY AND APPLICATIONS | 2013年 / 7卷 / 11期

基金：

中国国家自然科学基金;

关键词：

TRACKING CONTROL; FLIGHT CONTROL; HELICOPTER; DESIGN; STABILIZATION; SUBJECT;

D O I：

10.1049/iet-cta.2012.0964

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：1583 / 1588

页数：6

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