Model linearization and H∞, controller design for a quadrotor unmanned air vehicle: Simulation study

Author

Wong, T.L. ; Khan, R.R. ; Lee, D.

Author_Institution

Sch. of Electr. & Electron. Eng., Singapore Polytech., Singapore, Singapore

fYear

2014

Firstpage

1490

Lastpage

1495

Abstract

This paper describes the architecture of a quadrotor and its linearized dynamic model. The attitude of the quadrotor in the model state-space variables can be calculated with rotational matrix formed from quaternions instead of finite small angular displacement approximation. Based on H_∞ continuous time control method, a state feedback controller is designed to control the translational position and heading of the quadrotor.

Keywords

H^∞ control; autonomous aerial vehicles; continuous time systems; control system synthesis; helicopters; linearisation techniques; position control; state feedback; state-space methods; H_∞ continuous time control method; H_∞ controller design; finite small angular displacement approximation; linearized dynamic model; model linearization; model state-space variables; quadrotor; quadrotor heading; quadrotor unmanned air vehicle; rotational matrix; state feedback controller; translational position; Algorithm design and analysis; Atmospheric modeling; Measurement uncertainty; Optical variables measurement; Position measurement; Prediction algorithms; Propellers; Closed-loop feedback control; H„ controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on

Type

conf

DOI

10.1109/ICARCV.2014.7064536

Filename

7064536