Quaternion-based robust attitude control for quadrotors

Hao Liu; Xiafu Wang

doi:10.1109/ICUAS.2015.7152379

Quaternion-based robust attitude control for quadrotors

Hao Liu
, Xiafu Wang

School of Artificial Intelligence(Institute of Artificial Intelligence)

Beihang University
Tsinghua University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

11 Scopus citations

Abstract

A robust control method is proposed for quadrotor systems. The designed controller is developed based upon the quaternion representation model, which is subject to multiple uncertainties. A feedback controller is proposed to restrain the effects of nonlinearities and uncertainties on the closed-loop system. These uncertainties are considered as input equivalent disturbances and their effects are proven to be attenuated. Experimental results show the effectiveness of the designed control method.

Original language	English
Title of host publication	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	920-925
Number of pages	6
ISBN (Electronic)	9781479960101
DOIs	https://doi.org/10.1109/ICUAS.2015.7152379
State	Published - 7 Jul 2015
Event	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015 - Denver, United States Duration: 9 Jun 2015 → 12 Jun 2015

Publication series

Name	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015

Conference

Conference	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Country/Territory	United States
City	Denver
Period	9/06/15 → 12/06/15

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10.1109/ICUAS.2015.7152379

Cite this

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title = "Quaternion-based robust attitude control for quadrotors",

abstract = "A robust control method is proposed for quadrotor systems. The designed controller is developed based upon the quaternion representation model, which is subject to multiple uncertainties. A feedback controller is proposed to restrain the effects of nonlinearities and uncertainties on the closed-loop system. These uncertainties are considered as input equivalent disturbances and their effects are proven to be attenuated. Experimental results show the effectiveness of the designed control method.",

author = "Hao Liu and Xiafu Wang",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015 ; Conference date: 09-06-2015 Through 12-06-2015",

year = "2015",

month = jul,

day = "7",

doi = "10.1109/ICUAS.2015.7152379",

language = "英语",

series = "2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015",

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Liu, H & Wang, X 2015, Quaternion-based robust attitude control for quadrotors. in 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015., 7152379, 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015, Institute of Electrical and Electronics Engineers Inc., pp. 920-925, 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015, Denver, United States, 9/06/15. https://doi.org/10.1109/ICUAS.2015.7152379

Quaternion-based robust attitude control for quadrotors. / Liu, Hao; Wang, Xiafu.
2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 920-925 7152379 (2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Wang, Xiafu

PY - 2015/7/7

Y1 - 2015/7/7

N2 - A robust control method is proposed for quadrotor systems. The designed controller is developed based upon the quaternion representation model, which is subject to multiple uncertainties. A feedback controller is proposed to restrain the effects of nonlinearities and uncertainties on the closed-loop system. These uncertainties are considered as input equivalent disturbances and their effects are proven to be attenuated. Experimental results show the effectiveness of the designed control method.

AB - A robust control method is proposed for quadrotor systems. The designed controller is developed based upon the quaternion representation model, which is subject to multiple uncertainties. A feedback controller is proposed to restrain the effects of nonlinearities and uncertainties on the closed-loop system. These uncertainties are considered as input equivalent disturbances and their effects are proven to be attenuated. Experimental results show the effectiveness of the designed control method.

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T2 - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015

Y2 - 9 June 2015 through 12 June 2015

ER -

Quaternion-based robust attitude control for quadrotors

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