Robust attitude controller for uncertain hexarotor micro aerial vehicles (MAVs)

• Main Authors: Zamzuri, Hairi, Abdul Rahman, Mohd. Azizi, Mazlan, Saiful Amri, Derawi, Dafizal, Salim, Nurul Dayana
• Format: Article
• Published: Institute of Electrical and Electronics Engineers Inc. 2014
• Subjects: T Technology
• Online Access: http://eprints.utm.my/id/eprint/62493/; http://dx.doi.org/10.1109/IROS.2014.6943241

This paper proposes a practical robust attitude controller for uncertain hexarotor micro aerial vehicles (MAVs). The proposed robust controller consists of a nominal linear time-invariant controller and a robust compensator for pitch, roll, and yaw subsystems. The nominal controller is an inner-oute...