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). pp. 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 |
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| 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 Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
| SWORD Depositor: | Elements |
| Depositing User: | Elements |
| Date Deposited: | 21 Nov 2017 14:52 |
| Last Modified: | 15 Jan 2022 01:20 |
| URI: | http://repository.essex.ac.uk/id/eprint/20691 |
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