Abstract
This paper proposes a robust optimal attitude control design for hexarotor unmanned aerial vehicles (UAVs) under the effects of uncertainties which consist of external disturbances, nonlinear dynamics, coupling, and parametric uncertainties. The proposed optimal control is designed for pitch, roll, and yaw subsystems and it consists of a nominal optimal controller and a plug-in gain scheduling robust compensator. The nominal optimal controller is based on linear quadratic regulator (LQR) control approach to ensure a stable closed-loop nominal system, whilst a plug-in gain scheduling robust compensator is added in order to improve the attitude tracking performance due to the presence of uncertainties where the amount of uncertainties are changing dynamically. The simulation results prove the attitude tracking errors are bounded in specified boundaries and demonstrate the robustness of the proposed control scheme and thus suitable for real flight condition.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of the Symposium on the Motion and Vibration Control
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
