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39292

NONLINEAR ∞ H CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE

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Last updated: 04 Jan 2025

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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.

DOI

10.21608/amme.2008.39292

Keywords

H-infinity, riccati equation, Estimation

Authors

First Name

MOKHTAR

Last Name

A.

MiddleName

-

Affiliation

University of Sciences and Technology Oran, BP1505 El M'naour Oran Algeria.

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First Name

BENALLEGUE

Last Name

A.

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-

Affiliation

Robotic Laboratory of Versailles, 10 avenue de l'Europe Velizy, France.

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Orcid

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First Name

ORLOV

Last Name

Y.

MiddleName

-

Affiliation

Scientific Research Technology Development (CITEDI-IPN), Ave. del Parque 1310 Mesa de Otay, Tijuana, B.C., Mexico.

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First Name

DAACHI

Last Name

B.

MiddleName

-

Affiliation

Laboratoire Images, Signaux et Intelligence Artificielle (LISSI) 122-124, rue Paul Armangot 94200 Vitry sur Seine (France).

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Volume

13

Article Issue

13th International Conference on Applied Mechanics and Mechanical Engineering.

Related Issue

6264

Issue Date

2008-05-01

Receive Date

2019-07-07

Publish Date

2008-05-01

Page Start

48

Page End

57

Print ISSN

2636-4352

Online ISSN

2636-4360

Article File

AMME_Volume 13_Issue 13th International Conference on Applied Mechanics and Mech….pdf

PDF . 497.2kB

Link

https://amme.journals.ekb.eg/article_39292.html

Detail API

https://amme.journals.ekb.eg/service?article_code=39292

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52

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Original Article

Type Code

831

Publication Type

Journal

Publication Title

The International Conference on Applied Mechanics and Mechanical Engineering

Publication Link

https://amme.journals.ekb.eg/

MainTitle

NONLINEAR ∞ H CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE

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Article

Created At

22 Jan 2023