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H∞ for quadrotor attitude stabilization

Jasim, W and Gu, D (2014) H∞ for quadrotor attitude stabilization. In: UNSPECIFIED, ? - ?.

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This paper proposes a state feedback controller for the attitude stabilization problem of quadrotors. The quadrotor attitude is represented by unit quaternion and disturbance of the attitude model is taken into consideration. A robust controller is synthesized via H∞ optimal design approach. Solving the nonlinear H∞ optimal control problem using state feedback is meltdown to finding a solution to a Hamilton-Jacobi inequality. Based on the quadrotor attitude dynamics, an appropriate parameterized Lyapunov function is selected and the corresponding state feedback controller is derived. Then the parameters are found from a Hamilton-Jacobi inequality. The resultant state feedback controller can lead to closed-loop nonlinear system having L2-gain less than or equal to a constant γ, and establish the asymptotically stability of the closed-loop nonlinear system without external disturbance. The simulation provides the results to show the stability and the robust performance against to disturbance.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: 2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Jim Jamieson
Date Deposited: 23 Jul 2015 09:35
Last Modified: 22 Jun 2021 23:15

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