Tracking Control of Quadrotor Using Static Output Feedback with Modified Command-Generator Tracker
The aim of this paper is to design a quadrotor tracking control with guaranteed performance using output feedback with modified command-generator tracker. This paper presents an approach for designing command-generator tracker control structure for position control (outer loop) and attitude control (inner loop) of quadrotor using robust performance design techniques. Modified command-generator tracker (CGT) control structure based on LQR output feedback is applied to provide zero tracking error at the outer loop. Robust performance with output feedback method is designed to guarantee stability in the presence of disturbance at the inner loop. The necessary and sufficient conditions for robust performance of quadrotor are formulated by an iterative linear matrix inequalities (LMIs) algorithm. Several simulations are performed to verify the effectiveness the proposed control method. Simulation results show that the quadrotor can track the reference signal asymptotically and maintain its stability despite the presence of disturbance.
Copyright © 2016 Praise Worthy Prize - All rights reserved.
A. Tayebi and S. McGilvray, Attitude Stabilization of a VTOL Quadrotor Aircraft, IEEE Transactions on Control Systems Technology, Vol. 14, No. 3, May 2006
Z. Zou, Trajectory Tracking Control Design with Command-filtered Compensation for a Quadrotor, IET Journal Control Theory Appl, Vol. 4,( Issue 11), pp. 2343-2355, 2010.
Larbi, M.A., Zemalache Meguenni, K., Meddahi, Y., Litim, M., Nonlinear observer and Backstepping control of quadrotor unmanned aerial vehicle, (2013) International Review of Automatic Control (IREACO), 6 (5), pp. 631-640.
F. Yacef, O. Bouhali, H. Khebbache and F. Boudjema, Takagi-Sugeno Model for Quadrotor Modelling and Control using Nonlinear State Feedback Controller, International Journal of Control Theory and Computer Modelling (IJCTCM), May 2012.
Deif, T., Kassem, A., El Baioumi, G., Modeling, Robustness, and Attitude Stabilization of Indoor Quad Rotor Using Fuzzy Logic Control, (2014) International Review of Aerospace Engineering (IREASE), 7 (6), pp. 192-201.
Liu, G., Zhang, C., LQR Control of Permanent Magnet Synchronous Motor Based on Exact State Feedback Linearization, (2013) International Review of Electrical Engineering (IREE), 8 (2), pp. 626-632.
El Majdoub, K., Ouadi, H., Touati, A., LQR Control for Semi-Active Quarter Vehicle Suspension with Magnetorhehological Damper and Bouc-Wen Model, (2014) International Review on Modelling and Simulations (IREMOS), 7 (4), pp. 703-711.
M. Vladimir P. G., E. Carlos Vivas. G., Carol Ivonn R. F., Simulation of the Quadrotor Controlled with LQR with Integral Effect, ABCM Symposium Series in Mechatronics, Vol. 5, pp.390-399, 2012.
E. C. Suicmez and A. T. Kutay, Optimal Path Tracking Control of a Quadrotor UAV, International Conference on Unmanned Aircraft System, May 2014.
Amer, N., Ramli, R., Wan Mahadi, W., Zainul Abidin, M., Isa, H., Foong, S., Implementation of LQR Controller on Electromagnetic Suspension System for Passenger’s Car, (2014) International Review of Mechanical Engineering (IREME), 8 (1), pp. 258-264.
N. Wang, H. Pei, Y. He and Qi Zhang, Robust
- There are currently no refbacks.
Please send any question about this web site to email@example.com
Copyright © 2005-2019 Praise Worthy Prize