Title :
Design and implementation of an H∞ controller for a quadrotor helicopter
Author :
Rich, Matt ; Elia, Nicola ; Jones, Philip
Author_Institution :
Dept. of Electr. & Comput. Eng., Iowa State Univ., Ames, IA, USA
Abstract :
In this paper, we present a six degree of freedom model of a quadrotor helicopter, onboard electronics, and a networked control system. We follow this with a procedure for designing robust control for quasi hover conditions using Glover-McFarlane loop shaping. The model is presented symbolically as well as numerically for the specific system used in our experiments. In our control design procedure we take steps to minimize potential difficulties of MIMO loop shaping, while still producing effective linear control which is robust to a class of generic uncertainty. Finally, we present both simulation and experimental implementation results and find them in agreement.
Keywords :
H∞ control; MIMO systems; aircraft control; avionics; control system synthesis; linear systems; networked control systems; robust control; Glover-McFarlane loop shaping; H∞ controller design; MIMO loop shaping; linear control; networked control system; onboard electronics; quadrotor helicopter; quasi hover conditions; robust control design; six degree of freedom model; Equations; Force; Mathematical model; Rotors; Torque; Vectors; Vehicle dynamics;
Conference_Titel :
Control & Automation (MED), 2013 21st Mediterranean Conference on
Conference_Location :
Chania
Print_ISBN :
978-1-4799-0995-7
DOI :
10.1109/MED.2013.6608871