Robust Attitude Stabilization Controller Design for Quadrotor Systems with Multiple Uncertainties and Delays

被引：0
|
作者：
Liu, Hao [1 ,2 ]
Li, Danjun [2 ]
Zhong, Yisheng [2 ]
机构：
[1] Beihang Univ, Sch Astronaut, Beijing 100191, Peoples R China
[2] Tsinghua Univ, Dept Automat, TNList, Beijing 100084, Peoples R China
来源：
2016 AMERICAN CONTROL CONFERENCE (ACC) | 2016年
基金：
中国国家自然科学基金;
关键词：
TRACKING CONTROL; FLIGHT CONTROL; HELICOPTER;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Quadrotor systems involve nonlinearity, coupling, and uncertainties such as parameter uncertainties, external disturbances, and state and input time delays. This paper proposes a robust attitude stabilization controller design method. The proposed controller includes a nominal controller for the uncertain and delay free model, and a robust compensator to restrain the effects of uncertainties and delays on the closed-loop control system. Theoretical analysis and experimental results are given to validate the effectiveness of the designed control approach.
引用
收藏
页码：2241 / 2245
页数：5
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