期刊
IEEE ACCESS
卷 1, 期 -, 页码 79-93出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2013.2260794
关键词
Robust control; optimal control; quadrotor; feedback linearization; unmanned aerial vehicle
资金
- National Science Foundation [ECCS 07-25433, CMMI-0856368]
- University of Texas STARs Program
- DGIST R&D Program of the Ministry of Education, Science and Technology of Korea [12-BD-0101]
This paper provides the design and implementation of an L-1-optimal control of a quadrotor unmanned aerial vehicle (UAV). The quadrotor UAV is an underactuated rigid body with four propellers that generate forces along the rotor axes. These four forces are used to achieve asymptotic tracking of four outputs, namely the position of the center of mass of the UAV and the heading. With perfect knowledge of plant parameters and no measurement noise, the magnitudes of the errors are shown to exponentially converge to zero. In the case of parametric uncertainty and measurement noise, the controller yields an exponential decrease of the magnitude of the errors in an L-1-optimal sense. In other words, the controller is designed so that it minimizes the L-infinity-gain of the plant with respect to disturbances. The performance of the controller is evaluated in experiments and compared with that of a related robust nonlinear controller in the literature. The experimental data shows that the proposed controller rejects persistent disturbances, which is quantified by a very small magnitude of the mean error.
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