TY - GEN
T1 - Robust attitude stabilization controller design for quadrotor systems with multiple uncertainties and delays
AU - Liu, Hao
AU - Li, Danjun
AU - Zhong, Yisheng
N1 - Publisher Copyright:
© 2016 American Automatic Control Council (AACC).
PY - 2016/7/28
Y1 - 2016/7/28
N2 - Quadrotor systems involve nonlinearity, coupling, and uncertainties such as parameter uncertainties, external disturbances, and state and input time delays. This paper proposes a robust attitude stabilization controller design method. The proposed controller includes a nominal controller for the uncertain and delay free model, and a robust compensator to restrain the effects of uncertainties and delays on the closed-loop control system. Theoretical analysis and experimental results are given to validate the effectiveness of the designed control approach.
AB - Quadrotor systems involve nonlinearity, coupling, and uncertainties such as parameter uncertainties, external disturbances, and state and input time delays. This paper proposes a robust attitude stabilization controller design method. The proposed controller includes a nominal controller for the uncertain and delay free model, and a robust compensator to restrain the effects of uncertainties and delays on the closed-loop control system. Theoretical analysis and experimental results are given to validate the effectiveness of the designed control approach.
UR - https://www.scopus.com/pages/publications/84992090836
U2 - 10.1109/ACC.2016.7525251
DO - 10.1109/ACC.2016.7525251
M3 - 会议稿件
AN - SCOPUS:84992090836
T3 - Proceedings of the American Control Conference
SP - 2241
EP - 2245
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -