Premium
Robust Nonlinear Control for Path Tracking of a Quad‐Rotor Helicopter
Author(s) -
Raffo Guilherme V.,
Ortega Manuel G.,
Rubio Francisco R.
Publication year - 2015
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.823
Subject(s) - backstepping , control theory (sociology) , robustness (evolution) , nonlinear system , parametric statistics , control engineering , nonlinear control , engineering , robust control , trajectory , computer science , adaptive control , mathematics , control (management) , artificial intelligence , physics , biochemistry , chemistry , statistics , quantum mechanics , astronomy , gene
Abstract This paper presents a nonlinear robust control strategy to solve the path tracking problem for a quadrotor unmanned aerial vehicle. The main objective is to design controllers that provide certain required performances during the quadrotor flight, such as null tracking error and robustness in the presence of sustained external disturbances affecting the six degrees of freedom, parametric uncertainties, and unmodeled dynamics. The control structure is performed through a nonlinearH ∞controller to stabilize the rotational movements and a control law based on the backstepping approach with integral action to track the reference trajectory. Simulation results are carried out to corroborate the effectiveness and the robustness of the proposed strategy.