Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5003932 | ISA Transactions | 2017 | 9 Pages |
Abstract
In this paper, a robust guaranteed cost controller (RGCC) is proposed for quadrotor UAV system with uncertainties to address set-point tracking problem. A sufficient condition of the existence for RGCC is derived by Lyapunov stability theorem. The designed RGCC not only guarantees the whole closed-loop system asymptotically stable but also makes the quadratic performance level built for the closed-loop system have an upper bound irrespective to all admissible parameter uncertainties. Then, an optimal robust guaranteed cost controller is developed to minimize the upper bound of performance level. Simulation results verify the presented control algorithms possess small overshoot and short setting time, with which the quadrotor has ability to perform set-point tracking task well.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Zhiwei Xu, Xiaohong Nian, Haibo Wang, Yinsheng Chen,