Robust control for octorotor Unmanned Aerial Vehicle in H-Configuration

This manuscript presents a configuration for a octorotor unmanned aerial vehicle in H-configuration that offers some advantages over traditional multirotor designs. The mathematical model for the vehicle is developed using Euler-Lagrange formalism. A robust controller, formed by a proportional derivative term and a robust compensator, is designed to track a reference signal. To show the effectiveness of the aerial vehicle and the control strategy developed, a set of real-time experimental results are presented.