A robust control method is proposed for quadrotor systems. The designed controller is developed based upon the quaternion representation model, which is subject to multiple uncertainties. A feedback controller is proposed to restrain the effects of nonlinearities and uncertainties on the closed-loop system. These uncertainties are considered as input equivalent disturbances and their effects are proven to be attenuated. Experimental results show the effectiveness of the designed control method.


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    Titel :

    Quaternion-based robust attitude control for quadrotors


    Beteiligte:
    Liu, Hao (Autor:in) / Wang, Xiafu (Autor:in)


    Erscheinungsdatum :

    01.06.2015


    Format / Umfang :

    614187 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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