Nonlinear H control of a Quadrotor (UAV), using high order sliding mode disturbance estimator Laboratoire

Robotique industrielle et automatisation   Oran   39 vues Référence : 1688

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Localité : Oran

A nonlinear H∞ output feedback controller is proposed and coupled to a high-order sliding mode estimator to regulate an UAV in the presence of the unmatched perturbations. The plant to be controlled is a Quadrotor helicopter described by nonlinear dynamics with plant uncertainties due to the variations of inertia moments and payload operation. A robust state estimation is considered under model uncertainties as well as external/measurement disturbances. Performance issues of the controller are illustrated in a simulation study made for an UAV prototype.

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