摘要
This paper addresses the robust compensator design problem for theattitude tracking of an indoor micro quadrotor subject to unknownstochastic input delays and input constraints. The attitude dynamicsof the micro quadrotor is modelled as a nonlinear system with linear parametric uncertainties, unknown stochastic input delays, inputconstraints and disturbances. Based on the uncertain model and theHanlanay’s inequality, both robust H∞ attitude tracking controllerand suboptimal robust H∞ controller with constraints are developed by constructing an appropriate Lyapunov–Krasvokii functionand presenting standard linear matrix inequalities. The suggestedcontrollers not only achieve the exponential stabilisation of attitudeof the quadrotor but also guarantee the given H∞ performance.Finally, both numerical simulation and experimental results are provided to illustrate the effectiveness and merits of the proposedmethods.
