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This paper designs a robust cascade PID attitude controller for the quadrotor helicopter. Firstly, based on the near-hover dynamic model of quadrotor helicopters, dual loop cascade PID attitude controllers are designed with angular rate feedback as the inner loop and attitude angle feedback as the outer loop. Then robust compensators are added to reject the effect of external wind disturbance and...
The ability to land on a slope is a meaningful capability of a quadrotor. In slope landing, the controller applied to the quadrotor should precisely control the bottom plane parallel to the slope when touching down, as well as attenuate the disturbances from nonlinearities, ground effects and other interference. In this paper, an output feedback finite-horizon optimal control is used to accurately...
Output consensus problems for multi-agent systems under disturbances are investigated. Distributed dynamic consensus protocols, which estimate the state and the disturbances of each agent and distribute the estimations to other neighbor agents, are applied, and output consensus problems under disturbances are converted into output regulation problems. On this basis, a necessary and sufficient condition...
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