TY - GEN
T1 - Robust attitude control for uncertain quadrotors with input time delays
AU - Liu, Hao
AU - Liu, Deyuan
AU - Zuo, Zongyu
N1 - Publisher Copyright:
© 2016 EUCA.
PY - 2016
Y1 - 2016
N2 - Robust attitude controller is designed for multiple-input multiple-out nonlinear quadrotor systems, whose dynamics involves parametric uncertainties, external disturbances, and input time delays. The proposed controller can be designed by two steps: a nominal controller is firstly designed for the nominal system, while a robust compensator is added to restrain the model error between the nominal system and the real system. Theoretical and experimental results are presented to validate the effectiveness of the proposed closed-loop control system.
AB - Robust attitude controller is designed for multiple-input multiple-out nonlinear quadrotor systems, whose dynamics involves parametric uncertainties, external disturbances, and input time delays. The proposed controller can be designed by two steps: a nominal controller is firstly designed for the nominal system, while a robust compensator is added to restrain the model error between the nominal system and the real system. Theoretical and experimental results are presented to validate the effectiveness of the proposed closed-loop control system.
UR - https://www.scopus.com/pages/publications/85015100026
U2 - 10.1109/ECC.2016.7810636
DO - 10.1109/ECC.2016.7810636
M3 - 会议稿件
AN - SCOPUS:85015100026
T3 - 2016 European Control Conference, ECC 2016
SP - 2312
EP - 2315
BT - 2016 European Control Conference, ECC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 European Control Conference, ECC 2016
Y2 - 29 June 2016 through 1 July 2016
ER -