Automatic weight selection for mixed sensitivity optimization control of a quadrotor | IEEE Conference Publication | IEEE Xplore

Automatic weight selection for mixed sensitivity optimization control of a quadrotor


Abstract:

This paper presents a new method for designing the weights used for development of robust controllers for a quadrotor model with parameter uncertainty. The weights alongs...Show More

Abstract:

This paper presents a new method for designing the weights used for development of robust controllers for a quadrotor model with parameter uncertainty. The weights alongside the controllers are developed for attitude and altitude tracking by resolving a constrained non-linear minimization problem formulated over the conventional mixed sensitivity optimization S over T method. The optimization routine is carried out using the MATLAB OPTI Toolbox. The designed controllers guarantee nominal as well as robust stability and performance with the H norms achieved to be well below unity. The results from numerical simulations are presented.
Date of Conference: 21-23 November 2017
Date Added to IEEE Xplore: 18 December 2017
ISBN Information:
Conference Location: Auckland, New Zealand

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