Robust motion control of quadrotors |
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| Affiliation: | 1. School of Astronautics, Beihang University, Beijing 100191, PR China;2. Department of Automation, TNList, Tsinghua University, Beijing 100084, PR China;3. High-Tech Institute of Xi׳an, Xi׳an 710025, PR China;1. Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Guwahati 781039, India;2. Department of Electrical Engineering, Indian Institute of Bombay, Mumbai, 400076, India;1. Department of Physics, FET, Manav Rachna International Institute of Research and Studies, Faridabad, Haryana, India;2. Department of Electronics Engineering, J. C. Bose University of Science and Technology, YMCA Faridabad, Haryana, India;1. Mathematics Department, University of California, 4111 McHenry Santa Cruz, CA 95064, USA;2. Departamento de Matemáticas, Universidad Autónoma Metropolitana - Iztapalapa, San Rafael Atlixco 186, Col. Vicentina, CP 09340 México City, Mexico;1. Flinders University, Mathematics, GPO Box 2100, Adelaide, SA 5001, Australia;2. University of New England, Mathematics, Armidale, NSW 2351, Australia |
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| Abstract: | In this paper, the robust motion control problem is investigated for quadrotors. The proposed controller includes two parts: an attitude controller and a position controller. Both the attitude and position controllers include a nominal controller and a robust compensator. The robust compensators are introduced to restrain the influence of uncertainties such as nonlinear dynamics, coupling, parametric uncertainties, and external disturbances in the rotational and translational dynamics. It is proven that the position tracking errors are ultimately bounded and the boundaries can be specified by choosing controller parameters. Experimental results on the quadrotor demonstrate the effectiveness of the robust control method. |
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