Open AccessA composite controller based on nonlinear H_∞ and nonlinear disturbance observer for attitude stabilization of a flying robot
Author(s) -
Vahid Razmavar,
Heidar Ali Talebi,
Farzaneh Abdollahi
Publication year - 2021
Publication title -
indonesian journal of electrical engineering and computer science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.241
H-Index - 17
eISSN - 2502-4760
pISSN - 2502-4752
DOI - 10.11591/ijeecs.v22.i1.pp270-276
Subject(s) - control theory (sociology) , nonlinear system , lyapunov function , controller (irrigation) , parametric statistics , kinematics , euler angles , engineering , robot , disturbance (geology) , observer (physics) , control engineering , computer science , mathematics , control (management) , artificial intelligence , physics , paleontology , statistics , geometry , classical mechanics , quantum mechanics , agronomy , biology
In this article a novel composite control technique is introduced. We added a nonlinear disturbance observer to a nonlinear H_∞ control to form this composite controller. The quadrotor kinematics and dynamics is formulated using euler angles and parameters. After that, this nonlinear robust controller is developed for this flying robot attitude control for the outdoor conditions. Because under these conditions the flying robot, experiences both external disturbance and parametric uncertainty. Stability analysis is also presented to show the global asymptotical stability using a Lyapunov function. The simulation results showed that the suggested composite controller had a better performance in comparison with a nonlinear H_∞ control scheme.