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.
Quaternion-based robust attitude control for quadrotors
01.06.2015
614187 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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