Nonlinear Robust H-Infinity PID Controller for the Multivariable System Quadrotor

Juan Paul Ortiz, Luis Ismael Minchala, Manuel Jeova Reinoso

Research output: Contribution to journalArticlepeer-review

65 Scopus citations


© 2016 IEEE. This paper presents the methodology of design of a nonlinear robust controller for attitude regulation and its implementation in an experimental platform of an unmanned aerial vehicle (UAV) quadrotor. Details on the kinematic and dynamic modeling based on the Euler-Lagrange formalism are provided, as well as the particulars of the design of a nonlinear robust H-infinity PID controller to regulate the rotational moments. The performance and effectiveness of the proposed controller are tested in a simulation and an experimental platform. The performance of the proposed controller is compared with a conventional PID controller by using the integral square error (ISE) as performance parameter. Experimental results help to demonstrate the correct operation of the system for real-time applications in the presence of unmodeled dynamics and the uncertainties of the parameters.
Translated title of the contributionControlador PID H-Infinity robusto no lineal para el sistema multivariable Quadrotor
Original languageEnglish (US)
Pages (from-to)1176-1183
Number of pages8
JournalIEEE Latin America Transactions
StatePublished - 1 Mar 2016


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