期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
期号：10
页码：368
DOI：10.5772/56785
语种：English
出版社：SAGE Publications
摘要：In this paper, a new motion controller for a quadrotor aircraft is introduced. A reformulation of the control inputs of the dynamic model is discussed and then the control algorithm is given in a constructive form. The stability proof of the state space origin of the overall closed-loop system relies on the theory of singularly perturbed systems. Numerical simulations corroborate the viability of the proposed control scheme and the conclusions concerning stability. A set of simulations under practical conditions is also presented, where the system is affected by different types of disturbances and nonlinearities such as noise and actuator saturation.
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