Robust attitude control for quadrotors with input time delays

Robust attitude controller design problem is investigated for uncertain quadrotors with input delays. The vehicle model can be described as a multiple-input multiple-output nonlinear system subject to parametric uncertainties, external disturbances, and input time delays. A robust controller is proposed consisting of a nominal controller and a robust signal-based compensator. It is shown that the robust stability and the robust tracking property can be achieved. An important feature of the proposed control method is that a systematic way can be given to tune the controller parameters. Experimental results are given to demonstrate the effectiveness of the designed control system.