NONLINEAR H CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE Laboratoire

Robotique industrielle et automatisation   Oran   53 vues Référence : 1690

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Localité : Oran


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.

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Type d'établissement :
Laboratoire
Contribution :
Problématique
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