Alejandro Morfin-Santana, Filiberto Muñoz Palacios, I. González-Hernández, E. S. E. Quesada, S. Salazar
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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.
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