Liu, Hao; Li, Danjun; Kim, Jonghyuk; Zhong, Yisheng
In this paper, a practical controller design method is presented to control six degrees of freedom multirotor aircrafts-quadrotors. The quadrotor system is divided into four subsystems; that is, the longitudinal, lateral, yaw, and height subsystems. Then, a linear and decoupled nominal model is obtained for each subsystem, whereas coupling and nonlinear dynamics, parametric perturbations, and external disturbances are considered as uncertainties. For each subsystem, a decoupled robust...[Show more]
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