García Rodríguez, Ramón AndrésRodríguez Rubio, FranciscoOrtega Linares, Manuel Gil2021-02-172021-02-172012García Rodríguez, R.A., Rodríguez Rubio, F. y Gil Ortega Linares, M. (2012). Robust PID Control of the Quadrotor Helicopter. En IFAC Conference on Advances in PID Control PID Brescia, Italia: Elsevier.https://hdl.handle.net/11441/105079In this paper a robust PID control strategy via affine parametrization is designed for an multivariable nonlinear unmanned aerial vehicle. The robustness of the controlled system is assured by using the H∞ norm of the weighted complementary sensitivity function. Simulation results carried out using a complete nonlinear model are shown, wherein the performance achieved with this control strategy is shown.application/pdf6 p.engAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/PIDRobust controlUAVinfo:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/openAccesshttps://doi.org/10.3182/20120328-3-IT-3014.00039