Real-Time Implementation of Decoupled Controllers for Multirotor Aircrafts
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]
|Collections||ANU Research Publications|
|Source:||Journal of Intelligent and Robotic Systems|
|01_Liu_Real-Time_Implementation_of_2014.pdf||819.43 kB||Adobe PDF|
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