Robust Control of Quadrotor Unmanned Air Vehicles
A robust control approach for a quadrotor helicopter is presented. The controller consists of two parts: an attitude controller and a position controller. The attitude controller is designed based on linear control combined with robust compensation. The linear controller is designed for the nominal system to achieve desired nominal performances, while the robust compensator is applied to restrain the effects of uncertainties and external disturbances. The position controller was realized with classical PD method. Experimental results on the Tsinghua Autonomous Quadrotor System (TAQS) which is developed in our laboratory demonstrate the effectiveness of the designed controller.
Quadrotor UAV Robust Control
Yongqiang Bai Hao Liu Zongying Shi Yisheng Zhong
Department of Automation, TNList, Tsinghua University, Beijing 100084, P. R. China PLA 63880 Unit, P Department of Automation, TNList, Tsinghua University, Beijing 100084, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
4462-4467
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）