Nonlinear H _∞ control of a Quadrotor (UAV), using high order sliding mode disturbance estimator

摘要

A nonlinear H _∞ output feedback controller is proposed and coupled to a high-order sliding mode estimator to regulate an UAV in the presence of the unmatched 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.View full textDownload full textKeywordsnonlinear control, robustness, QuadrotorRelated var addthis_config = { ui_cobrand: "Taylor & Francis Online", services_compact: "citeulike,netvibes,twitter,technorati,delicious,linkedin,facebook,stumbleupon,digg,google,more", pubid: "ra-4dff56cd6bb1830b" }; Add to shortlist Link Permalink http://dx.doi.org/10.1080/00207179.2012.709656