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Mixed H₂/H∞ Tracking Control with Constraints for Single Quadcopter Carrying a Cable-suspended Payload

Guo, M and Gu, D and Su, Y (2017) 'Mixed H₂/H∞ Tracking Control with Constraints for Single Quadcopter Carrying a Cable-suspended Payload.' IFAC Proceedings Volumes (IFAC-PapersOnline), 50 (1). 4869 - 4874. ISSN 1474-6670

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Abstract

In order to control a single quadcopter with a cable-suspended payload to follow the desired trajectory, a mixed H₂/H∞ controller with constraints is developed. Firstly, the Euler-Lagrange dynamic model is built and linearized. Then the extended model for path tracking problem is designed. Based on linear matrix inequality (LMI), state feedback controller H₂ and H∞ with constraints is illustrated. Aiming to maintain a good balance in transient behaviors and frequency-domain performance, the mixed controller is presented. Finally, the control strategies are utilized in a simulation test and the result validates the proposed method.

Item Type: Article
Uncontrolled Keywords: aircraft control, H2 norm, H∞ norm, linear matrix inequality, Lyapunov function, state control
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Elements
Date Deposited: 21 Nov 2017 14:52
Last Modified: 21 Nov 2017 14:52
URI: http://repository.essex.ac.uk/id/eprint/20691

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