A new control method (B control) that guarantees fast and robust control for unstable invertible plants [1] has been recently proposed and tested [2], [3]. This method enables getting a time response with minimal overshoot and settling time equal to rise time while keeping good stability margins. Demonstration of this control method has been published in [4]. In the present work, we apply this control method to a non-linear model of a quadcopter. The fastest orientation dynamic of the drone is controlled separately from the translation dynamic which is slower. The performance of this B controller is compared to a μ-synthesis and PID controller. Matlab simulations show slightly better performances for B control compared to μ-synthesis in the time domain. However, μ-synthesis gives better results for steady flight in the presence of perturbations when compared to B controller, although it involves higher motor velocities. PID performance in the time domain is less than satisfactory as it evolves excessive gains.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robustness Studies on Quadrotor Control


    Contributors:


    Publication date :

    2019-06-01


    Size :

    878539 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Robustness of PD control for transporting quadrotor with payload uncertainties

    Pratama, Gilang Nugraha Putu / Masngut, Ibnu / Cahyadi, Adha Imam et al. | IEEE | 2017


    Quadrotor quaternion control

    Carino, J. / Abaunza, H. / Castillo, P. | IEEE | 2015



    Quadrotor dual quaternion control

    Abaunza, H. / Carino, J. / Castillo, P. et al. | IEEE | 2015


    Quadrotor Vision‐Based Control

    Gomez‐Balderas, J. E. / Guerrero, J. A. / Salazar, S. et al. | Wiley | 2012