Robust Flight Control of Quadrotor Unmanned Air Vehicles

Abstract

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.

Modified central force optimization (MCFO) algorithm for 3D UAV path planning

“…The dynamics model of the quadrotor helicopter is built by Ref. [28]. The attitude controller and the position controller are both realized with classical Proportion-Integration-Differentiation (PID) method [29][30][31].…”

Design and implementation of an H<inf>&#x221E;</inf> controller for a quadrotor helicopter

“…if the quadrotor is placed to the right of the origin, in order to correct left, it would require a non-zero 8 Q and R being positive semidefinite guarantees the existence of a square root for each roll. Specifically y is positive to the right, and ϕ is negative banking to the left.…”

“…The modeling of the vehicle dynamics is typically kept relatively simple. Control methodologies range from linear proportional-integral-derivative (PID) controllers, to Linear Quadratic (LQ) [1], [2], [3], [4], to various adaptive and semi-adaptive schemes, backstepping, dynamic inversion [5], and numerous robust schemes of various types [1], [6], [7], [8]. We present a procedure using Glover-McFarlane loop shaping and a linear quadratic control design step to determine the nominal loop shape.…”

Immersion and invariance based adaptive attitude tracking control of a quadrotor UAV in the presence of parametric uncertainty

“…This type of UAV has many special advantages such as simple structure, vertical taking off and landing (VTOL), rapid maneuvering and precise hovering, so it has attracted much attention from military and civil applications [1], [2]. A quadrotor is equipped with four fast-responded motors, and on top of each motor a fixed pitch propeller is assembled to provide the lifting force.…”