System identification and H∞-based control of quadrotor attitude
| Autor: | Hamid D. Taghirad, Omid Esrafilian, Mojtaba Ahangar Arzati, Ali Noormohammadi-Asl |
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| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Mechanical Engineering Multiplicative function Control (management) System identification Stability (learning theory) Aerospace Engineering PID controller 02 engineering and technology 01 natural sciences Computer Science Applications Attitude control 020901 industrial engineering & automation Control and Systems Engineering Control theory 0103 physical sciences Signal Processing 010301 acoustics Civil and Structural Engineering |
| Zdroj: | Mechanical Systems and Signal Processing. 135:106358 |
| ISSN: | 0888-3270 |
| DOI: | 10.1016/j.ymssp.2019.106358 |
| Popis: | 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 ∞ control approach is adopted for a real quadrotor. To achieve H ∞ 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 ∞ controllers for both roll and pitch angle 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 μ synthesis controller. |
| Databáze: | OpenAIRE |
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