Model identification and H∞ attitude control for quadrotor MAV's

First published in
Lecture notes in computer science  
Number in series
7507 Lecture notes in artificial intelligence
Issue
PART 2
Start Page
460
End Page
471
Citation
5th international conference, ICIRA 2012, Montreal, QC, Canada, October 3 - 5, 2012 ; proceedings, part II: Seite 460-471 (2012)
Contribution to Conference
5th International Conference on Intelligent Robotics and Applications, ICIRA 2012  
Publisher DOI
10.1007/978-3-642-33515-0_46
Scopus ID
2-s2.0-84892875663
Publisher
Springer
This paper presents the results of modelling, parameter identification and control of the rotational axes of a quadrotor robot. The modelling is done in Newton-Euler Formalism and has been published before. Contrarily, our method uses a Grey-Box-based, iterative parameter identification approach, the results of which can easily be reproduced and offers great accuracy. By neglecting nonlinear and cross-coupling effects, only three to four parameters have to be identified per axis, depending on the order of the motor dynamics. Based on the achieved results we were able to design an aggressive H∞ attitude controller, which shows superior performance to the normal PID-like controllers. With an antiwindup compensator based on Riccati-equations we are able to show exceptional input disturbance rejection, even with disturbances saturating the engines.
Subjects
Micro unmanned aerial vehicle (MAV)
Quadrotor
Robust control
System identification
DDC Class
004: Informatik
600: Technik
620: Ingenieurwissenschaften