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Mathematical Problems in Engineering
Volume 2015, Article ID 108481, 8 pages
Research Article

Robust Hierarchical Control for Uncertain Multivariable Hexarotor Systems

1State Key Laboratory of Mathematical Engineering and Advanced Computing, No. 62 Science Road, Zhengzhou 450002, China
2School of Astronautics, Beihang University, Beijing 100191, China

Received 12 February 2015; Accepted 29 April 2015

Academic Editor: Hiroyuki Mino

Copyright © 2015 Wei Lin and Hao Liu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Multirotor helicopter attracts more attention due to its increased load capacity and being highly maneuverable. However, these helicopters are uncertain multivariable systems, which pose a challenge for their robust controller design. In this paper, a robust two-loop control scheme is proposed for a hexarotor system. The resulted controller consists of a nominal controller and a robust compensator. The robust compensators are added to restrain the influences of uncertainties such as nonlinear dynamics, coupling, parametric uncertainties, and external disturbances. It is proven that the tracking errors are ultimately bounded with specified boundaries by choosing the parameters of the robust compensators. Simulation results on the hexarotor demonstrate the effectiveness of the proposed control method.