Robust attitude control of uncertain quadrotors

Abstract

This study presents a controller design method to achieve the robust attitude control for uncertain quadrotors. The proposed linear time‐invariant controller consists of a proportional–derivative (PD) controller and a robust compensator. The PD controller is designed for the nominal linear system to achieve the desired tracking and the robust compensator is added to restrain the influence of the uncertainties. It is proven that attitude tracking errors are bounded and the boundaries can be made as small as desired. Experimental results on the quadrotor are given to confirm the effectiveness of this control method.