Abstract
In this article, a new and novel robust hybrid control algorithm is designed for tuning the parameters of unmanned aerial vehicle (UAV). The quadrotor type UAV mathematical model is taken to observe the effectiveness of our designed robust hybrid control algorithm. The robust hybrid control algorithm consists of H∞ based regulation, pole-placement and tracking (RST) controller along with mixed sensitivity function is applied to control the complete model of UAV. The selected rotor craft is under-actuated, nonlinear and multivariable behavior in nature along with six degrees of freedom (DOF). Due to all these aforementioned issues its stabilization is quite difficult as compared to fully actuated systems. For the tuning of nonlinear parameters of the UAV, we designed, robust hybrid control algorithm is used. Moreover, the performance of the designed controller is compared with robust controller. The validity and effectiveness of the designed controllers are simulated in MATLAB and Simulink, in which the designed controller shows better steady state behavior, robustness and converges quickly in specific amount of time as compared to robust controller.
Highlights
Over the recent years, the demand of unmanned aerial vehicle (UAV) is increased rapidly due to playing a vital role in various fields, i.e., transportation, surveillance, firefighting, rescue and health and safety monitoring purposes [1]
The demand of unmanned aerial vehicle (UAV) is increased rapidly due to playing a vital role in various fields, i.e., transportation, surveillance, firefighting, rescue and health and safety monitoring purposes [1]. It is a robot without a humanoid pilot or crew on board that’s why it is called un-crewed or unmanned aerial vehicle
The complete mathematical model of quadrotor aerial vehicle is discussed, whereas the equation of motions of quadrotor UAV is considered by using Newton’s law of motion. It defines that the addition of all external forces that are acting on the body of UAV time period oscillations of the body momentum [14]
Summary
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China. E selected rotor cra is under-actuated, nonlinear and multivariable behavior in nature along with six degrees of freedom (DOF). A new and novel robust hybrid control algorithm is designed for tuning the parameters of unmanned aerial vehicle (UAV). E quadrotor type UAV mathematical model is taken to observe the effectiveness of our designed robust hybrid control algorithm. Due to all these aforementioned issues its stabilization is quite difficult as compared to fully actuated systems. For the tuning of nonlinear parameters of the UAV, we designed, robust hybrid control algorithm is used. E validity and effectiveness of the designed controllers are simulated in MATLAB and Simulink, in which the designed controller shows better steady state behavior, robustness and converges quickly in specific amount of time as compared to robust controller
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