TY - GEN
T1 - Robust optimal attitude control of multirotors
AU - Liu, Hao
AU - Derawi, Dafizal
AU - Kim, Jonghyuk
AU - Zhong, Yisheng
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84911478228&partnerID=8YFLogxK
M3 - Conference contribution
T3 - Australasian Conference on Robotics and Automation, ACRA
BT - Australasian Conference on Robotics and Automation, ACRA
PB - Australasian Robotics and Automation Association
T2 - 2013 Australasian Conference on Robotics and Automation, ACRA 2013
Y2 - 2 December 2013 through 4 December 2013
ER -