2-DOF H∞ Output Feedback Control of Quadrotor Subject to Parametric Uncertainties and Time Delay

This article presents the problem of position tracking control of quadrotor subject to parametric uncertainties, time delay, and external disturbances, which cause performance degradation and instability in the quadrotor control system. Two degree-of-freedom (DOF) \mathcal{H}_{\infty} control scheme...

Full description

Saved in:
Bibliographic Details
Published in2022 International Conference on Recent Advances in Electrical Engineering & Computer Sciences (RAEE & CS) pp. 1 - 5
Main Authors Saeed, Azmat, Bhatti, Aamer I, Malik, Fahad M
Format Conference Proceeding
LanguageEnglish
Published IEEE 18.10.2022
Subjects
2-DOF H∞ control
Delay effects
Perturbation methods
robust performance
Robust stability
Robustness
Simulation
Transfer functions
Uncertainty
Online AccessGet full text

Cover

More Information
Summary:This article presents the problem of position tracking control of quadrotor subject to parametric uncertainties, time delay, and external disturbances, which cause performance degradation and instability in the quadrotor control system. Two degree-of-freedom (DOF) \mathcal{H}_{\infty} control scheme is designed for the 6-DOF model of quadrotor. Parametric uncertainty and time delay are lumped into a single complex multiplicative perturbation. Multiplicative weights, which are rational transfer functions, are determined using frequency domain approach. Robustness and performance are demonstrated by numerical simulations. The simulation's results indicate effective tracking and disturbance rejection.
DOI:10.1109/RAEECS56511.2022.9954545