Robust Control for Quadrotors With Multiple Time-Varying Uncertainties and Delays

Robust trajectory tracking control problem is dealt with for quadrotors with multiple uncertainties and multiple delays. The vehicle model is described as a multiple-input multiple-out time-varying system subject to parametric perturbations, nonlinear and coupled dynamics, external disturbances, and...

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Bibliographic Details
Published inIEEE transactions on industrial electronics (1982) Vol. 64; no. 2; pp. 1303 - 1312
Main Authors Liu, Hao, Zhao, Wanbing, Zuo, Zongyu, Zhong, Yisheng
Format Journal Article
LanguageEnglish
Published New York IEEE 01.02.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Attitude control
Control systems
Delay effects
Delays
Nonlinear dynamics
Perturbation
Quadrotors
Robust control
Robustness
Rotary wing aircraft
Rotors
time delays
Time varying control systems
Tracking control
Tracking errors
Trajectory control
uncertainties
Uncertainty
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Summary:Robust trajectory tracking control problem is dealt with for quadrotors with multiple uncertainties and multiple delays. The vehicle model is described as a multiple-input multiple-out time-varying system subject to parametric perturbations, nonlinear and coupled dynamics, external disturbances, and state and input delays. A robust cascade controller including an attitude controller and a position controller is proposed based on the hierarchical control scheme and the robust compensating technique. It is proven that the position and attitude tracking errors can converge into the given neighbourhood of the origin in a finite time, subject to multiple uncertainties and delays. Experimental results on the quadrotor system are provided to verify the effectiveness of the proposed controller.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2016.2612618