An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter

Authors:
Guilherme V. Raffo;Manuel G. Ortega;Francisco R. Rubio
Affiliations:
Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, Camino de los Descubrimientos s/n, 41092, Sevilla, Spain;Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, Camino de los Descubrimientos s/n, 41092, Sevilla, Spain;Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, Camino de los Descubrimientos s/n, 41092, Sevilla, Spain
Venue:
Automatica (Journal of IFAC)
Year:
2010

Citing 9
Cited 6

Non-Linear Control for Underactuated Mechanical Systems

Non-Linear Control for Underactuated Mechanical Systems
L2-Gain and Passivity Techniques in Nonlinear Control

L2-Gain and Passivity Techniques in Nonlinear Control
Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles

Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles
Robustness improvement of a nonlinear H∞ controller for robot manipulators via saturation functions

Journal of Robotic Systems
Exact linearization and sliding mode observer for a quadrotor unmanned aerial vehicle

International Journal of Robotics and Automation
Two inertial models of X4-flyers dynamics, motion planning and control

Integrated Computer-Aided Engineering
A predictive controller for autonomous vehicle path tracking

IEEE Transactions on Intelligent Transportation Systems
Modelling and Control of Mini-Flying Machines

Modelling and Control of Mini-Flying Machines
A Practical Visual Servo Control for an Unmanned Aerial Vehicle

IEEE Transactions on Robotics

A Diagnostic Thau Observer for a Class of Unmanned Vehicles

Journal of Intelligent and Robotic Systems
Trajectory Tracking Control for a Rotary Wing Vehicle Powered by Four Rotors

Journal of Intelligent and Robotic Systems
Modeling and Adaptive Tracking Control of a Quadrotor UAV

International Journal of Intelligent Mechatronics and Robotics
Robust H∞ attitude control of a laboratory helicopter

Robotics and Autonomous Systems
Hard Real-Time Implementation of a Nonlinear Controller for the Quadrotor Helicopter

Journal of Intelligent and Robotic Systems
Adaptive Nonlinear Stabilization Control for a Quadrotor UAV: Theory, Simulation and Experimentation

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	22.16

Visualization

Abstract

This paper presents an integral predictive and nonlinear robust control strategy to solve the path following problem for a quadrotor helicopter. The dynamic motion equations are obtained by the Lagrange-Euler formalism. The proposed control structure is a hierarchical scheme consisting of a model predictive controller (mpc) to track the reference trajectory together with a nonlinear H"~ controller to stabilize the rotational movements. In both controllers the integral of the position error is considered, allowing the achievement of a null steady-state error when sustained disturbances are acting on the system. Simulation results in the presence of aerodynamic disturbances, parametric and structural uncertainties are presented to corroborate the effectiveness and the robustness of the proposed strategy.