Experimental constrained optimal attitude control of a quadrotor subject to wind disturbances

Kostas Alexis, George Nikolakopoulos, Anthony Tzes

Research output: Contribution to journalArticlepeer-review


The design and experimental verification of a Constrained Finite Time Optimal Controller (CFTOC) for attitude maneuvers of an Unmanned Quadrotor operating under severe wind conditions is the subject of this article. The quadrotor’s nonlinear dynamics are linearized in various operating points resulting in a set of piecewise affine models. The CFTO-controller is designed for set-point maneuvers taking into account the switching between the linear models and the state and actuation constraints. The control scheme is applied on experimental studies on a prototype quadrotor operating both in absence and under presence of forcible atmospheric disturbances. Extended experimental results indicate that the proposed control approach attenuates the effects of induced wind-gusts while performing accurate attitude set-point maneuvers.

Original languageEnglish (US)
Pages (from-to)1289-1302
Number of pages14
JournalInternational Journal of Control, Automation and Systems
Issue number6
StatePublished - Nov 21 2014


  • Constrained optimal control
  • disturbance attenuation
  • quadrotor

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications


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