Abstract
Abstract In this paper, a nonlinear H∞ state feedback control is designed for both orientation and altitude of a flying robot system in the presence of external disturbance. An analytical solution is proposed for Hamilton-Jacobi-Isaac (HJI) equation. According to the quadrotor's orientation and altitude, a suitable storage function is considered and the appropriate robust control law is derived. The controller coefficients are tuned from Hamilton-Isaac-Jacobi inequality. The closed-loop nonlinear system with the proposed controller has L2-gain less than or equal to γ, and guarantee its asymptotic stability closed-loop nonlinear system with external disturbance. Simulations are provided with the model uncertainties and external disturbance to verify the robustness of the proposed controller. Simulation results confirm the effectiveness of the desired robust controller.
Highlights
Flying robots have been become more and more important in the last few years
Nonlinear H∞ scheme provides a method for driving robust controllers for nonlinear dynamics with external disturbances and parametric uncertainties
3.2 Controller design The nonlinear H∞ control tries to keep both orientation and altitude of the quadrotor aligned with the reference frame involving external disturbance and parametric uncertainty
Summary
Flying robots have been become more and more important in the last few years. These kinds of robots are used in a variety of scopes, namely, film making, rescue mission, and crop spraying. Quadrotors have the ability of vertical landing and take-off and they are capable of hovering in the fixed location, which make them more efficient and safer to the fixed –wing aircrafts in usages (Min et al, 2009) These kinds of flying robots are underactuated nonlinear systems and they are affected by external disturbances and parametric uncertainties. A composite nonlinear robust controller scheme, variable structure control and backstepping approach has been developed for the position and yaw angle of a quadrotor (Chen et al, 2016). A nonlinear H∞ control scheme has been developed in the sense of L2 – gain for both orientation and altitude stabilizing of a flying robot.
Sign-in/Register to view highlights & summary 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 callDisclaimer: 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.
