DocumentCode :
261587
Title :
H for quadrotor attitude stabilization
Author :
Jasim, Wesam ; Dongbing Gu
Author_Institution :
Sch. of Comput. Sci. & Electron. Eng., Univ. of Essex, Colchester, UK
fYear :
2014
fDate :
9-11 July 2014
Firstpage :
19
Lastpage :
24
Abstract :
This paper proposes a state feedback controller for the attitude stabilization problem of quadrotors. The quadrotor attitude is represented by unit quaternion and disturbance of the attitude model is taken into consideration. A robust controller is synthesized via H optimal design approach. Solving the nonlinear H optimal control problem using state feedback is meltdown to finding a solution to a Hamilton-Jacobi inequality. Based on the quadrotor attitude dynamics, an appropriate parameterized Lyapunov function is selected and the corresponding state feedback controller is derived. Then the parameters are found from a Hamilton-Jacobi inequality. The resultant state feedback controller can lead to closed-loop nonlinear system having L2-gain less than or equal to a constant γ, and establish the asymptotically stability of the closed-loop nonlinear system without external disturbance. The simulation provides the results to show the stability and the robust performance against to disturbance.
Keywords :
H control; asymptotic stability; attitude control; autonomous aerial vehicles; closed loop systems; control system synthesis; helicopters; nonlinear control systems; robust control; state feedback; H control; H optimal design approach; Hamilton-Jacobi inequality; L2-gain; asymptotic stability; closed-loop nonlinear system; parameterized Lyapunov function; quadrotor attitude dynamics; quadrotor attitude stabilization; robust controller synthesis; state feedback controller; unit quaternion; Atmospheric modeling; Attitude control; Nonlinear systems; Quaternions; State feedback; Uncertain systems; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control (CONTROL), 2014 UKACC International Conference on
Conference_Location :
Loughborough
Type :
conf
DOI :
10.1109/CONTROL.2014.6915109
Filename :
6915109
Link To Document :
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