Decoupled and Robust Velocity Controller for Uncertain Quadrotors
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]
|Collections||ANU Research Publications|
|Source:||Asian Journal of Control|
|01_Liu_Decoupled_and_Robust_Velocity_2014.pdf||834.08 kB||Adobe PDF||Request a copy|
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