@inproceedings{8207fe09a9164c779de25b3aafbc0ff8,
title = "Robust optimal attitude control of multirotors",
abstract = "In this paper, a robust and optimal control method is proposed for the attitude control problem of multirotors. The designed controller consists of an optimal controller and a robust compensator. The optimal controller is designed based on the linear quadratic regulation control method for the desired tracking of the nominal linear system, whereas the robust compensator is introduced to restrain the influence of multiple uncertainties. Tracking errors are proven to be bounded with specified boundaries ultimately. Simulation and experimental results on the hexarotor demonstrate the effectiveness of the proposed robust optimal control approach.",
author = "Hao Liu and Dafizal Derawi and Jonghyuk Kim and Yisheng Zhong",
year = "2013",
language = "英语",
series = "Australasian Conference on Robotics and Automation, ACRA",
publisher = "Australasian Robotics and Automation Association",
booktitle = "Australasian Conference on Robotics and Automation, ACRA",
address = "澳大利亚",
note = "2013 Australasian Conference on Robotics and Automation, ACRA 2013 ; Conference date: 02-12-2013 Through 04-12-2013",
}