For quadrotor unmanned air vehicles (UAVs) flight control problem, a robust controller design approach is presented. The controller consists of two parts: an inner-loop attitude controller and an outer-loop position controller. The attitude controller is designed with robust control based on signal compensation. The position controller is realized with classical PD method. It is applied to a quadrotor UAV developed in our laboratory to realize indoor hovering. Experimental results demonstrate the effectiveness of this control approach.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.