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<p>In this paper, we study the control of a quadrotor platform—QDrone2’s motion in the <i>x</i>,&#xa0;<i>y</i>,&#xa0;<i>z</i> spatial coordinates. Based on a mathematical model of the QDrone2 including external disturbances, a robust controller incorporating gain-scaling factors is designed. The system is analyzed using Lyapunov stability theory. Through the system analysis, it is demonstrated that the proposed control scheme successfully drives the QDrone2 to the desired <i>x</i>,&#xa0;<i>y</i>,&#xa0;<i>z</i> position. Furthermore, it is shown that control errors caused by disturbances can be effectively mitigated by utilizing the gain-scaling factor. Finally, the validity of the proposed approach is verified through both simulations and real-world experiments.</p>

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Robust Control of the x, y, z Positions of a QDrone2 Using a Gain-Scaling Controller with Consideration of External Disturbances

  • 期刊论文

  • 发表日期：

    2026年7月21日

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  • Yeong-Jun Lim,
  • Ho-Lim Choi

摘要

In this paper, we study the control of a quadrotor platform—QDrone2’s motion in the x, y, z spatial coordinates. Based on a mathematical model of the QDrone2 including external disturbances, a robust controller incorporating gain-scaling factors is designed. The system is analyzed using Lyapunov stability theory. Through the system analysis, it is demonstrated that the proposed control scheme successfully drives the QDrone2 to the desired x, y, z position. Furthermore, it is shown that control errors caused by disturbances can be effectively mitigated by utilizing the gain-scaling factor. Finally, the validity of the proposed approach is verified through both simulations and real-world experiments.