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

2016; Institute of Electrical and Electronics Engineers; Volume: 64; Issue: 2 Linguagem: Inglês

10.1109/tie.2016.2612618

1557-9948

Hao Liu, Wanbing Zhao, Zongyu Zuo, Yisheng Zhong,

Stability and Control of Uncertain Systems

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.