This paper proposes a novel nonlinear robust controller for a hexarotor unmanned aerial vehicle (UAV). The aircraft's attitude dynamic model is subject to system parametric uncertainties and unknown time-varying external disturbances. By utilizing the Lyapunov based stability theorem, the closed-loop attitude system is proved to be exponentially stable in tracking time-varying reference trajectories. Detailed numerical simulation results are provided to validate the control performance and effectiveness of the control strategy.


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    Title :

    Nonlinear robust attitude control development for a hexarotor unmanned aerial vehicle


    Contributors:
    Zhao, Bo (author) / Yue, Dong (author)


    Publication date :

    2018-05-01


    Size :

    1668271 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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