NONLINEAR ∞ H CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE
A., M., A., B., Y., O., B., D. (2008). NONLINEAR ∞ H CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE. EKB Journal Management System, 13(13th International Conference on Applied Mechanics and Mechanical Engineering.), 48-57. doi: 10.21608/amme.2008.39292
MOKHTAR A.; BENALLEGUE A.; ORLOV Y.; DAACHI B.. "NONLINEAR ∞ H CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE". EKB Journal Management System, 13, 13th International Conference on Applied Mechanics and Mechanical Engineering., 2008, 48-57. doi: 10.21608/amme.2008.39292
A., M., A., B., Y., O., B., D. (2008). 'NONLINEAR ∞ H CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE', EKB Journal Management System, 13(13th International Conference on Applied Mechanics and Mechanical Engineering.), pp. 48-57. doi: 10.21608/amme.2008.39292
A., M., A., B., Y., O., B., D. NONLINEAR ∞ H CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE. EKB Journal Management System, 2008; 13(13th International Conference on Applied Mechanics and Mechanical Engineering.): 48-57. doi: 10.21608/amme.2008.39292

NONLINEAR ∞ H CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE

The International Conference on Applied Mechanics and Mechanical Engineering
Article 52, Volume 13, 13th International Conference on Applied Mechanics and Mechanical Engineering., May 2008, Pages 48-57    PDF (485.52 K)
Document Type: Original Article
DOI: 10.21608/amme.2008.39292
Authors
MOKHTAR A.1; BENALLEGUE A.2; ORLOV Y.3; DAACHI B.4
1University of Sciences and Technology Oran, BP1505 El M'naour Oran Algeria.
2Robotic Laboratory of Versailles, 10 avenue de l'Europe Velizy, France.
3Scientific Research Technology Development (CITEDI-IPN), Ave. del Parque 1310 Mesa de Otay, Tijuana, B.C., Mexico.
4Laboratoire Images, Signaux et Intelligence Artificielle (LISSI) 122-124, rue Paul Armangot 94200 Vitry sur Seine (France).
Abstract
ABSTRACT
A nonlinear ∞ H output feedback controller is proposed and coupled to a PI controller to
regulate an UAV in the presence of aerodynamic force and moment 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.
Keywords
H-infinity; riccati equation; Estimation
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