Robust H∞ compensator with constraints for attitude manoeuvres of a quadrotor subject to unknown stochastic input delays

Abstract

ABSTRACTThis paper addresses the robust compensator design problem for the attitude tracking of an indoor micro quadrotor subject to unknown stochastic input delays and input constraints. The attitude dynamics of the micro quadrotor is modelled as a nonlinear system with linear parametric uncertainties, unknown stochastic input delays, input constraints and disturbances. Based on the uncertain model and the Hanlanay's inequality, both robust attitude tracking controller and suboptimal robust controller with constraints are developed by constructing an appropriate Lyapunov–Krasvokii function and presenting standard linear matrix inequalities. The suggested controllers not only achieve the exponential stabilisation of attitude of the quadrotor but also guarantee the given performance. Finally, both numerical simulation and experimental results are provided to illustrate the effectiveness and merits of the proposed methods.