Robust Adaptive H∞ Control for Attitude Control of a Quadrotor

This paper proposes a new concept of adaptive robust H
_∞
control strategy for attitude control of a quadrotor flying robot. The system modeling is obtained by Euler-Lagrange formulation. New proposed control system which is developed based on nonlinear H
_∞
has a promising performance in terms of stabilization even in the presence of external disturbance, parametric uncertainties and unmodeled dynamics. Finally, in order to eliminate the effects of parametric uncertainties and external disturbance, parameters estimation is used to real time estimating of moment inertia parameters and wind. The parameter estimation is based on adaption rules of nonlinear H
_∞
which feeds the estimates to linear parameters and closed loop stability was shown by Lyapunov stability theory.