Robust Hybrid Control Algorithm for Tuning the Altitude and Attitude of Unmanned Aerial Vehicle

摘要

In this article, a new and novel robust hybrid control algorithm is designed for tuning the parameters of unmanned aerial vehicle (UAV). The quadrotor type UAV mathematical model is taken to observe the effectiveness of our designed robust hybrid control algorithm. The robust hybrid control algorithm consists of H_∞ based regulation, pole-placement and tracking (RST) controller along with mixed sensitivity function is applied to control the complete model of UAV. The selected rotor craft is under-actuated, nonlinear and multivariable behavior in nature along with six degrees of freedom (DOF). Due to all these aforementioned issues its stabilization is quite difficult as compared to fully actuated systems. For the tuning of nonlinear parameters of the UAV, we designed, robust hybrid control algorithm is used. Moreover, the performance of the designed controller is compared with robust controller. The validity and effectiveness of the designed controllers are simulated in MATLAB and Simulink, in which the designed controller shows better steady state behavior, robustness and converges quickly in specific amount of time as compared to robust controller.