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Decoupled Trajectory Tracking Controllers Design for Multirotors

Liu, Hao; Kim, Jonghyuk


A controller design method is pro- posed to control quadrotors with six degrees of freedom. The vehicle sys-Tem is divided into four subsystems: The longitudinal, lateral, yaw, and height subsystems. A linear and de- coupled nominal model is obtained for each subsystem, while coupling and nonlinear dynamics, parametric perturbations, and external disturbances are considered as uncertainties. For each subsystem, a decoupled robust controller is proposed. Although there exist couplings between...[Show more]

CollectionsANU Research Publications
Date published: 2015
Type: Conference paper
Source: Australasian Conference on Robotics and Automation, ACRA
Access Rights: Open Access


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