Liu, HaoKim, Jonghyuk2025-12-312025-12-311448-2053https://hdl.handle.net/1885/733798162A controller design method is pro- posed to control quadrotors with six degrees of freedom. The vehicle sys-Tem is divided into four subsystems: The longitudinal, lateral, yaw, and height subsystems. A linear and de- coupled nominal model is obtained for each subsystem, while coupling and nonlinear dynamics, parametric perturbations, and external disturbances are considered as uncertainties. For each subsystem, a decoupled robust controller is proposed. Although there exist couplings between each channel, the output tracking errors of the four subsystems are proven to ultimately converge into a-priori set neighbor- hood of the origin. Real-Time implementation results of the decoupled controller are given to demonstrate its viability.A robust and decoupled controller was proposed for a six degrees of freedom quadrotor to achieve the automatic hovering and trajectory following. The quadrotor system was divided into four subsystems and a robust controller including a nominal controller and a robust compensator was designed for each subsystem. Theoretical analysis was provided showing the convergence property of the closed-loop system and real-time experimental results demonstrate the viability and applicability of the proposed decoupled controller. Currently this method is being applied to more general multicopter models and tested under outdoor environments where wind disturbances are more severe. Acknowledgement This work was supported by the National Natural Science Foundation of China under Grants 61503012, 61374054, This work was supported by the National Natural Science Foundation of China under Grants 61503012, 61374054, 61473324, 61210012, and 61263002.en201585023743004