Robust attitude control for quadrotors with input time delays

• Published in: Control engineering practice Vol. 58; pp. 142 - 149
• Main Authors: Liu, Hao, Li, Danjun, Zuo, Zongyu, Zhong, Yisheng
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.01.2017
• Subjects: Attitude control; Input delays; Quadrotors; Robust control; Uncertainties; Robust control; Attitude control; Uncertainties; Input delays; Quadrotors
• ISSN: 0967-0661; 1873-6939
• DOI: 10.1016/j.conengprac.2016.10.006

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. •An attitude controller is proposed for uncertain quadrotors with input delays.•Parameter uncertainties, nonlinearity, external disturbances, and input delays are considered.•Robust stability and robust tracking property can be achieved.•A systematic way can be given to tune the controller parameters.•Experimental results demonstrate the effectiveness of the control method.