Title :
Low order H∞ controllers for a quadrotor UAV
Author :
Basak, Hasan ; Prempain, Emmanuel
Author_Institution :
Dept. of Eng., Univ. of Leicester, Leicester, UK
Abstract :
This paper addresses the designs of low-order controllers for an Unmanned Aerial Vehicle (UAV) quadrotor using fixed and structured H∞ optimization techniques. Closed-loop performance, computational efficiency and tracking performance of low order controllers are compared with those of a standard full order H∞ controller.
Keywords :
H∞ control; autonomous aerial vehicles; closed loop systems; control system synthesis; helicopters; H∞ optimization techniques; closed-loop performance; computational efficiency; full order H∞ controller; low order H∞ controllers; low-order controller design; quadrotor UAV; tracking performance; unmanned aerial vehicles; Algorithm design and analysis; Bandwidth; Drag; Optimization; Propellers; Sensitivity; Standards; Low order H∞ controller; Performance; Quadrotor; Standard H∞ controller;
Conference_Titel :
Control (CONTROL), 2014 UKACC International Conference on
Conference_Location :
Loughborough
DOI :
10.1109/CONTROL.2014.6915127
