Title :
Quaternion-based robust attitude control for quadrotors
Author :
Hao Liu ; Xiafu Wang
Author_Institution :
Sch. of Astronaut., Beihang Univ., Beijing, China
Abstract :
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.
Keywords :
aircraft control; attitude control; autonomous aerial vehicles; closed loop systems; control nonlinearities; control system synthesis; feedback; helicopters; robust control; uncertain systems; closed-loop system; controller design; feedback controller; input equivalent disturbances; multiple uncertainties; nonlinearities; quadrotor systems; quaternion representation model; quaternion-based robust attitude control; Control systems; Quaternions; Robustness; Rotors; Uncertainty; Vehicle dynamics; Vehicles;
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2015 International Conference on
Conference_Location :
Denver, CO
Print_ISBN :
978-1-4799-6009-5
DOI :
10.1109/ICUAS.2015.7152379
