This paper proposes a novel nonlinear robust controller for a hexarotor unmanned aerial vehicle (UAV). The aircraft's attitude dynamic model is subject to system parametric uncertainties and unknown time-varying external disturbances. By utilizing the Lyapunov based stability theorem, the closed-loop attitude system is proved to be exponentially stable in tracking time-varying reference trajectories. Detailed numerical simulation results are provided to validate the control performance and effectiveness of the control strategy.


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    Titel :

    Nonlinear robust attitude control development for a hexarotor unmanned aerial vehicle


    Beteiligte:
    Zhao, Bo (Autor:in) / Yue, Dong (Autor:in)


    Erscheinungsdatum :

    01.05.2018


    Format / Umfang :

    1668271 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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