H-infinity control system design for a quad-rotor

被引：7

作者：

Kang, Taesam ^{[1
]}

Yoon, Kwang Joon ^{[1
]}

Ha, Tae-Hyun ^{[1
]}

Lee, Gigun ^{[1
]}

机构：

[1] Department of Aerospace Information Engineering, Konkuk University, Korea, Republic of

来源：

Journal of Institute of Control, Robotics and Systems | 2015年 / 21卷 / 01期

关键词：

Frequency domain analysis - Flight control systems - Attitude control - Time domain analysis - Uncertainty analysis;

D O I：

10.5302/J.ICROS.2015.14.9054

中图分类号：

学科分类号：

摘要：

This paper describes the design of a robust H-infinity attitude controller for a quad-rotor. The linear model of a quad-rotor was estimated using PEM (Prediction Error Minimization) method with experimental input and output data. To design an attitude controller, an extended plant was constructed by adjusting several uncertainties and weighting functions. An H-infinity controller was obtained by applying H-infinity methodology to the extended plant. Through frequency-domain analysis, it was shown that the designed controller can overcome uncertainties up to 75% of the plant model. The performance and robustness of the controller were verified through time-domain simulation. © ICROS 2015.

引用

页码：14 / 20

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