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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    Title :

    Quaternion-based robust attitude control for quadrotors


    Contributors:
    Liu, Hao (author) / Wang, Xiafu (author)


    Publication date :

    2015-06-01


    Size :

    614187 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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