Control robusto H-infinito para la velocidad de desplazamiento de un UAV en base a estimación de flujo óptico
[EN] The design of a displacement velocity controller is presented for a six rotor aerial vehicle. H–infinity control is proposed in order to achieve robust performance in presence of dynamic model uncertainty. It is assumed that a considerable amount of uncertainty is due to time delays introduced...
| Authors: | , , , |
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| Format: | article |
| Publication Date: | 2021 |
| Country: | España |
| Institution: | Universitat Politècnica de València (UPV) |
| Repository: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Language: | Spanish |
| OAI Identifier: | oai:riunet.upv.es:10251/168907 |
| Online Access: | https://riunet.upv.es/handle/10251/168907 |
| Access Level: | Open access |
| Keyword: | H–infinity robust control Optical flow Identification UAV Dynamic uncertainty Control robusto H–infinito Flujo óptico Identificación Incertidumbre dinámica |
| Summary: | [EN] The design of a displacement velocity controller is presented for a six rotor aerial vehicle. H–infinity control is proposed in order to achieve robust performance in presence of dynamic model uncertainty. It is assumed that a considerable amount of uncertainty is due to time delays introduced by the algorithms employed. The estimation of the vehicle’s displacement velocity is carried out on-board through an optical flow sensor implemented employing a camera and a high level processor a s w ell a s t he H–infinity controller. Through experimental data, the system’s identification procedure used to obtain a description of the plant as a family of models with global dynamic uncertainty is also presented as part of the design process. The implemented optical flow estimation methods are also presented as well as the tuning procedures employed which may affect the results of the system’s identification and the control performance. Experimental results are presented with details regarding the implementation phase. |
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