Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations
نویسندگان
چکیده
منابع مشابه
Robust adaptive control of a quadrotor helicopter
This work presents a direct approximate-adaptive control, using CMAC nonlinear approximators, for an experimental prototype quadrotor helicopter. The method updates adaptive parameters, the CMAC weights, as to achieve both adaptation to unknown payloads and robustness to disturbances. Previously proposed weight-update methods, such as e-modification, provide robustness by simply limiting weight...
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In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...
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-A new block backstepping controller is proposed to solve the attitude stabilization problem for a quadrotor helicopter. The attitude kinematical model is obtained and translated into a MIMO nonlinear system with generalized uncertainties. Under the consideration of the coupling between the attitude angles, a nominal block backstepping controller is designed. The obtained controller is then aug...
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The problem of attitude stabilization of a fighter aircraft is investigated in this paper. The practical aspects of a real physical system like existence of external disturbance with unknown upper bound and actuator saturation are considered in the process of controller design of this aircraft. In order to design a robust autopilot in the presence of the actuator saturation, the Composite Nonli...
متن کاملrobust control of a quadrotor
in this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. the designed controller includes two parts: a position controller and an attitude controller. the attitude controller is designed by using the sliding mode control (smc) method to track the desired pitch and roll angles, which are the output of position controll...
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ژورنال
عنوان ژورنال: Advances in Technology Innovation
سال: 2020
ISSN: 2518-2994,2415-0436
DOI: 10.46604/aiti.2020.3953