Modeling and robust attitude control of a quadrotor system

Author

Torres Gaitan, Angelica ; Bolea, Y.

Author_Institution

Univ. of Guadalajara, Guadalajara, Mexico

fYear

2013

fDate

Sept. 30 2013-Oct. 4 2013

Firstpage

7

Lastpage

12

Abstract

This paper describes the no-lineal model, and attitude Robust control of a Quadrotor MIMO System (UAV). The dynamic model of the UAV is transformed into a LTI system and approximated by a SISO system due to the low coupling among the canals of the system. The unknown model parameters have been taken of the system implemented in the Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV). Finally, robust controller has been designed using H∞ theory. The effectiveness and performance of the proposed control approach have been proved in simulation using MATLAB.

Keywords

H^∞ control; MIMO systems; attitude control; helicopters; mathematics computing; nonlinear systems; robust control; CINVESTAV; Center for Research and Advanced Studies of the National Polytechnic Institute; H∞ theory; LTI system; MATLAB; SISO system; UAV; dynamic model; no-lineal model; quadrotor MIMO system; quadrotor system modeling; robust attitude control; LTI system; MIMO system; Quadrotor; coupled system; robust control;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering, Computing Science and Automatic Control (CCE), 2013 10th International Conference on

Conference_Location

Mexico City

Print_ISBN

978-1-4799-1460-9

Type

conf

DOI

10.1109/ICEEE.2013.6676024

Filename

6676024