Authors: Wesam Jasim; Dongbing Gu
Addresses: School of Computer Science and Electronic Engineering, University of Essex, Wivenhoe Park, Colchester, UK; College of Computer Science and Information Technology, University of Anbar, Ramadi, Iraq ' School of Computer Science and Electronic Engineering, University of Essex, Wivenhoe Park, Colchester, UK
Abstract: In this paper, we consider the autonomous path tracking control problem of quadrotors with the presence of external disturbances and model parameter uncertainties change. A robust controller is derived and tested in simulation and practically on an AscTec Hummingbird quadrotor via H∞ optimal design approach. The stability analysis was obtained via a selected Lyapunov function. Simulation results are compared with that of integral backstepping controller. Practically, the H∞ controller was used to perform several manoeuvres such as take-off, square, circle, spiral and landing. Both simulation and practical results verified the stability and robustness of the proposed controller in the presence of external disturbances and model parameter uncertainties.
Keywords: H∞ controller; integral backstepping controller; path tracking; UAV quadrotor.
International Journal of Modelling, Identification and Control, 2018 Vol.29 No.1, pp.1 - 13
Available online: 19 Jan 2018 *Full-text access for editors Access for subscribers Free access Comment on this article