Robust Optimal Attitude Controller for MIMO Uncertain Hexarotor MAVs: Disturbance Observer-Based

• Main Authors: Salim, N. D., Derawi, D., Zamzuri, H., Nonami, K., Abdul Rahman, M. A.
• Format: Article
• Published: Hindawi Publishing Corporation 2016
• Subjects: TA Engineering (General). Civil engineering (General)
• Online Access: http://eprints.utm.my/id/eprint/71742/; https://www.scopus.com/inward/record.uri?eid=2-s2.0-84971572273&doi=10.1155%2f2016%2f3154842&partnerID=40&md5=93ec84e4dbf19f0bb99c36cbaae562b8

This paper proposes a robust optimal attitude control design for multiple-input, multiple-output (MIMO) uncertain hexarotor micro aerial vehicles (MAVs) in the presence of parametric uncertainties, external time-varying disturbances, nonlinear dynamics, and coupling. The parametric uncertainties, ex...