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.
Nonlinear robust attitude control development for a hexarotor unmanned aerial vehicle
01.05.2018
1668271 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DOAJ | 2019
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