The purpose of this paper is to present μ-synthesis-based robust attitude trajectory tracking control of three degree-of-freedom four rotor hover vehicle.

    Design/methodology/approach

    Comprehensive modelling of hover vehicle is presented, followed by development of uncertainty model. A μ-synthesis-based controller is designed using the DK iteration method that not only handles structured and unstructured uncertainties effectively but also guarantees robust performance. The performance of the proposed controller is evaluated through simulations, and the controller is also implemented on experimental platform. Simulation and experimental results validate that μ-synthesis-based robust controller is found effective in: solving robust attitude trajectory tracking problem of multirotor vehicle systems, handling parameter variations and dealing with external disturbances.

    Findings

    Performance analysis of the proposed controller guarantees robust stability and also ensures robust trajectory tracking performance for nominal system and for 15-20 per cent variations in the system parameters. In addition, the results also ensure robust handling of wind gusts disturbances.

    Originality/value

    This research addresses the robust performance of hover vehicle’s attitude control subjected to uncertainties and external disturbances using μ-synthesis-based controller. This is the only method so far that guarantees robust stability and performance simultaneously.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Modelling and robust attitude trajectory tracking control of 3-DOF four rotor hover vehicle


    Beteiligte:
    Amin, Rooh ul (Autor:in) / Li, Aijun (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    03.01.2017


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    HOVER ATTITUDE TRIM FOR VEHICLE

    FEGELY CODY / KUBIK STEPHEN | Europäisches Patentamt | 2017

    Freier Zugriff

    Hover attitude trim for vehicle

    FEGELY CODY / KUBIK STEPHEN | Europäisches Patentamt | 2018

    Freier Zugriff


    Hover aircraft rotor and hover aircraft

    ATTILIO COLOMBO | Europäisches Patentamt | 2015

    Freier Zugriff

    Design of Hover Flying Adaptive PD Controller for Four Rotor Unmanned Aerial Vehicle

    Li, Aitang / Fan, Dan / Cao, Xiaowen et al. | IEEE | 2020