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Title
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A robust control design approach for altitude control and trajectory tracking of a quadrotor
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Sub-Title |
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Subject |
Six degree of freedom quadrotor, unmanned aerial vehicle, attitude regulation, nonlinear system, robust control, H∞ controller
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Author |
Mian Farhan Ullah
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Publish Year |
2021 |
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Diss#. |
https://doi.org/10.20998/2074-272X.2021.5.03 |
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Chapters |
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Pages |
17-23 |
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Text Language |
English |
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Accession |
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Library Section |
Research Article |
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Abstract |
Unmanned aerial vehicles as quadcopters, twin rotors, fixed-wing crafts, and helicopters are being used in many
applications these days. Control approaches applied on the quadrotor after decoupling the model or separate altitude control and
trajectory tracking have been reported in the literature. A robust linear H controller has been designed for both altitude control and
circular trajectory tracking at the desired altitude. Problem. The ability of the quadrotor system to hover at a certain height and
track any desired trajectory makes their use in many industrial applications in both military and civil applications. Once a controller
has been designed, it may not be able to maintain the desired performance in practical scenarios, i.e. in presence of wind gusts.
Originality. This work presents the control strategy to ensure both altitude control and trajectory tracking using a single controller.
Purpose. However, there is a need for a single controller that ensures both altitude cont
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