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Full dynamics and control of a quadrotor using quantitative feedback theory
Author(s) -
Gharib Mohammad Reza,
Moavenian Majid
Publication year - 2015
Publication title -
international journal of numerical modelling: electronic networks, devices and fields
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.249
H-Index - 30
eISSN - 1099-1204
pISSN - 0894-3370
DOI - 10.1002/jnm.2101
Subject(s) - control theory (sociology) , robustness (evolution) , pid controller , nonlinear system , parametric statistics , multivariable calculus , control engineering , robust control , computer science , quantitative feedback theory , controller (irrigation) , system dynamics , engineering , control (management) , mathematics , artificial intelligence , temperature control , agronomy , biochemistry , chemistry , physics , statistics , quantum mechanics , biology , gene
Summary Mathematical modeling and simulation of unmanned aerial vehicles, especially, quadrotor modeling are not a simple work because of their complex structure, nonlinear dynamics and under‐actuated features. This paper presents the development of a general parametric model of a quadrotor with complete dynamic. First, a new robust PID control strategy based on QFT as a robust controller design method is introduced and designed for a multivariable nonlinear quadrotor. Then, the robustness of the control strategy is verified by simulations of the linear and nonlinear cases in the presence of uncertainties. The results demonstrate that the proposed PID robust controller can guarantee system stabilization, as well as roll, pitch and yaw tracking, while the disturbance rejection of quadrotor is achieved properly. Copyright © 2015 John Wiley & Sons, Ltd.