Papers by Keyword: H_∞ Controller

Abstract: This paper deals with the under-actuated characteristic of a quad-rotor unmanned aerial vehicle (UAV). By designing the double loop configuration, the autonomous trajectory tracking is realized. The model uncertainty, external disturbance and the senor noise are also taken into consideration. Then the controller is put forward in the inner loop. An optimal stability augmentation control (SAC) method is used to stabilize the horizon position and keep it away from oscillation. By calculating the nonlinear decouple map, control quantity is converted to the speeds of the four rotors. At last some simulation results and the prototype implementation prove that the control method is effective.

Abstract: Stabilization of a plant in case of uncertainty parameters and unmodeled dynamics are the main problems considered in this paper. A robust control of motion of a rigid shaft that is supported by magnetic bearings was used as an example. The dynamics of the active magnetic suspension system is characterized by instability and uncertainty. The uncertainty is modeled as an additive and multiplicative. Robust controller H∞ was designed for the defined plant with the uncertainty models. The robust controller assures high quality of control despite the uncertainty models. Robust control of vibrations of a rigid rotor is confirmed by experimental studies. A digital signal processor is used to execute the control algorithm in real time.