Liu, HaoDerawi, DafizalKim, JonghyukZhong, Yisheng2015-12-070924-090Xhttp://hdl.handle.net/1885/27458Multirotor aerial robotic vehicles attract much attention due to their increased load capacity and high maneuverability. In this paper, a robust optimal attitude controller is proposed for a kind of multirotor helicopters - hexarotors. It consists of a no201310.1007/s11071-013-1031-42015-12-07