Nonlinear Robust H-Infinity PID Controller for the Multivariable System Quadrotor
This paper presents the methodology of design of a nonlinear robust controller for attitude regulation and its implementation in an experimental platform of an unmanned aerial vehicle (UAV) quadrotor. Details on the kinematic and dynamic modeling based on the Euler-Lagrange formalism are provided, a...
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| Formato: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2016 |
| País: | Ecuador |
| Recursos: | Universidad de Cuenca |
| Repositorio: | Repositorio Universidad de Cuenca |
| OAI Identifier: | oai:dspace.ucuenca.edu.ec:123456789/29098 |
| Acesso em linha: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-84968756971&doi=10.1109%2fTLA.2016.7459596&partnerID=40&md5=420dd9fdded37e00ca758c343f2ba1b1 http://dspace.ucuenca.edu.ec/handle/123456789/29098 |
| Access Level: | acceso abierto |
| Palavra-chave: | Attitude Regulation Nonlinear System Quadrotor Robust Control Uav |
| Resumo: | This paper presents the methodology of design of a nonlinear robust controller for attitude regulation and its implementation in an experimental platform of an unmanned aerial vehicle (UAV) quadrotor. Details on the kinematic and dynamic modeling based on the Euler-Lagrange formalism are provided, as well as the particulars of the design of a nonlinear robust H-infinity PID controller to regulate the rotational moments. The performance and effectiveness of the proposed controller are tested in a simulation and an experimental platform. The performance of the proposed controller is compared with a conventional PID controller by using the integral square error (ISE) as performance parameter. Experimental results help to demonstrate the correct operation of the system for real-time applications in the presence of unmodeled dynamics and the uncertainties of the parameters. |
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