access icon free Robust attitude control of uncertain quadrotors

© The Institution of Engineering and Technology
Received 03/12/2012, Accepted 08/05/2013, Revised 30/04/2013, Published

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.

Inspec keywords: control system synthesis; rotors; autonomous aerial vehicles; robust control; tracking; uncertain systems; linear systems; attitude control; PD control

Other keywords: robust compensator; PD controller design method; attitude tracking error; uncertain quadrotor; proportional-derivative controller; linear time-invariant controller design method; robust attitude control; linear system

Subjects: Control system analysis and synthesis methods; Aerospace control; Spatial variables control

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