Abstract

This paper focuses on the robust control for a variable-pitch quadrotor unmanned aerial vehicle. The motorpropeller dynamic characteristics are analyzed and a practical cooperative control strategy is proposed. A novel nonlinear robust attitude tracking controller is also presented, with parametric uncertainties and unknown time-varying external disturbances involved. By utilizing the Lyapunov based stability theorem, the closed-loop attitude system is proven to be exponentially stable, and detailed numerical simulation results are provided to show the control performance and the effectiveness of the control strategy.

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