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 MoreMetadata
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.
Published in: 2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)
Date of Conference: 21-23 November 2017
Date Added to IEEE Xplore: 18 December 2017
ISBN Information: