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Robust Flight Control of Quadrotor Unmanned Air Vehicles
Author(s): 
Pages: 519-524
Year: Issue:  5
Journal: Robot

Keyword:  四旋翼无人直升机飞行控制鲁棒补偿;
Abstract: 讨论了四旋翼无人直升机的飞行控制问题,提出了一种鲁棒控制器设计方法.该控制器由内环姿态控制器和外环位置控制器两部分组成,姿态控制器采用基于信号补偿的鲁棒控制方法,位置控制器由经典的PD控制实现.将该控制器用于实验室自主研制的四旋翼无人直升机系统,实现了室内悬停飞行.实验结果验证了该控制方法的有效性.
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