NONLINEAR H CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE Laboratoire

A nonlinear ∞ H output feedback controller is proposed and coupled to a PI controller to regulate an UAV in the presence of aerodynamic force and moment 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.