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Decoupled and Robust Velocity Controller for Uncertain Quadrotors

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]

CollectionsANU Research Publications
Date published: 2014
Type: Journal article
Source: Asian Journal of Control
DOI: 10.1002/asjc.873


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