Robust feedback linearization and GH/sub /spl infin// controller for a quadrotor unmanned aerial vehicle

• Published in: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1198 - 1203
• Main Authors: Mokhtari, A., Benallegue, A., Daachi, B.
• Format: Conference Proceeding
• Language: English; Japanese
• Published: IEEE 2005
• Subjects: Aerodynamics; Control systems; Controller; Linear feedback control systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Quadrotor; Robust control; Robust stability; Sensitivity; Sliding mode control; Unmanned aerial vehicles
• ISBN: 0780389123; 9780780389120
• ISSN: 2153-0858; 2153-0866
• DOI: 10.1109/IROS.2005.1545112

In this paper, a mixed robust feedback linearization with linear GH controller is applied to a non linear quadrotor unmanned aerial vehicle. An actuator saturation and constrain on state space output are introduced to analyse the worst case of control law design. The results show that the overall system becomes robust when weighting functions are chosen judiciously. Performance issues of the controller are illustrated in a simulation study that takes into account parameter uncertainties and external disturbances as well as measurement noise.