Robust attitude control for quadrotors with input time delays

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• 作者：Hao Liu^a ; ^b ; ^{liuhao13@buaa.edu.cn} ; Danjun Li^b ; ^{lidj12@mails.tsinghua.edu.cn} ; Zongyu Zuo^c ; ^{zzybobby@buaa.edu.cn} ; Yisheng Zhong^b ; ^{zys-dau@mail.tsinghua.edu.cn}
• 关键词：Quadrotors ; Robust control ; Attitude control ; Uncertainties ; Input delays
• 刊名：Control Engineering Practice
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：58
• 期：Complete
• 页码：142-149
• 全文大小：1186 K
• 卷排序：58

文摘

An attitude controller is proposed for uncertain quadrotors with input delays. Parameter uncertainties, nonlinearity, external disturbances, and input delays are considered. Robust stability and robust tracking property can be achieved. A systematic way can be given to tune the controller parameters. Experimental results demonstrate the effectiveness of the control method.