System Identification and H_\infty-based Control of Quadrotor Attitude

DOI10.1016/J.YMSSP.2019.106358arXiv1812.10931MaRDI QIDQ6311705FDOQ6311705

Authors: Ali Noormohammadi-Asl, Omid Esrafilian, Mojtaba Ahangar, Hamid D. Taghirad 

Publication date: 28 December 2018

Abstract: The attitude control of a quadrotor is a fundamental problem, which has a pivotal role in a quadrotor stabilization and control. What makes this problem more challenging is the presence of uncertainty such as unmodelled dynamics and unknown parameters. In this paper, to cope with uncertainty, an $H_{i}nfty$ control approach is adopted for a real quadrotor. To achieve $H_{i}nfty$ controller, first a continuous-time system identification is performed on the experimental data to encapsulate a nominal model of the system as well as a multiplicative uncertainty. By this means, $H_{i}nfty$ controllers for both roll and pitch angles are synthesized. To verify the effectiveness of the proposed controllers, some real experiments and simulations are carried out. Results verify that the designed controller does retain robust stability, and provide a better tracking performance in comparison with a well-tuned PID and a $mu$ synthesis controller.

This page was built for publication: System Identification and $H_\infty$-based Control of Quadrotor Attitude

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6311705)