Robust Flight Control of Quadrotor Unmanned Air Vehicles

For quadrotor unmanned air vehicles (UAVs) flight control problem, a robust controller design approach is presented.The controller consists of two parts: an inner-loop attitude controller and an outer-loop position controller.The attitude controller is designed with robust control based on signal compensation.The position controller is realized with classical PD method.It is applied to a quadrotor UAV developed in our laboratory to realize indoor hovering.Experimental results demonstrate the effectiveness of this control approach.