Liu, Hao; Hou, Xiaolei; Kim, Jonghyuk; Zhong, Yisheng
In this paper, a decoupled robust velocity control method is investigated for a quadrotor. Although the quadrotor dynamics involves inter-axis coupling and nonlinearity, the quadrotor system is divided into four single-input single-output (SISO) subsystems. For each subsystem, a linear time-invariant robust controller is proposed, which uses its own states and consists of a nominal controller and a robust compensator. The nominal controller is designed by the proportional-integral-derivative...[Show more]
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