Robust attitude control of a quadrotor system against disturbance using a time-delayed control method: Experimental studies

This paper presents the attitude control of a quad-rotor system by using a time-delayed control (TDC) method. The TDC is known as a robust controller against the disturbance. The TDC uses the previous information to cancel out unknown dynamics by estimating the acceleration which is the most important term. A weight is attached to the frame to give intentional disturbance to the system. Roll and pitch angles are jointly disturbed by a weight so that the coupling effect is present. TDC is used to deal with not only the disturbance but also the coupling effect. Experimental studies of controlling the attitude of a quad-rotor system are presented in the laboratory to validate the performance of the proposed control scheme. Practical parameters are found empirically to give the best performance.