| Title |
Robust Attitude Control of Quadrotor Under Measurement Sensitivity and External Disturbance |
| Authors |
오상영(Sang-Young Oh) ; 최호림(Ho-Lim Choi) |
| DOI |
https://doi.org/10.5370/KIEE.2021.70.12.1958 |
| Keywords |
Quadrotor; Robust attitude control; Gain-scaling factor; Measurement sensitivity; External disturbance |
| Abstract |
A robust attitude control scheme for quadrotor is proposed under measurement sensitivity and external disturbance. In order to treat measurement sensitivity, a new determination process of a compact with allowed measurement sensitivity is presented by utilizing Lyapunov equation. With our control scheme, all controlled system states are shown to be bounded. Moreover, the ultimate bounds of all states can be made arbitrarily small by adjusting the gain-scaling factor in the presence of external disturbance. The validity of our control method is first checked via simulation, and then is also experimentally shown in the attitude control of quadrotor system |