Nonlinear H∞ control scheme for a flying robot

Detalhes bibliográficos
Autor(a) principal: Razmavar,Vahid
Data de Publicação: 2019
Outros Autores: Talebi,H. A., Abdollahi,Farzaneh
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Latin American journal of solids and structures (Online)
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252019000400508
Resumo: Abstract In this paper, a nonlinear H∞ state feedback control is designed for both orientation and altitude of a flying robot system in the presence of external disturbance. An analytical solution is proposed for Hamilton-Jacobi-Isaac (HJI) equation. According to the quadrotor's orientation and altitude, a suitable storage function is considered and the appropriate robust control law is derived. The controller coefficients are tuned from Hamilton-Isaac-Jacobi inequality. The closed-loop nonlinear system with the proposed controller has L2-gain less than or equal to γ, and guarantee its asymptotic stability closed-loop nonlinear system with external disturbance. Simulations are provided with the model uncertainties and external disturbance to verify the robustness of the proposed controller. Simulation results confirm the effectiveness of the desired robust controller.
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spelling Nonlinear H∞ control scheme for a flying robotL2-gainQuadrotorNonlinear H∞External disturbancesparametric uncertaintiesAbstract In this paper, a nonlinear H∞ state feedback control is designed for both orientation and altitude of a flying robot system in the presence of external disturbance. An analytical solution is proposed for Hamilton-Jacobi-Isaac (HJI) equation. According to the quadrotor's orientation and altitude, a suitable storage function is considered and the appropriate robust control law is derived. The controller coefficients are tuned from Hamilton-Isaac-Jacobi inequality. The closed-loop nonlinear system with the proposed controller has L2-gain less than or equal to γ, and guarantee its asymptotic stability closed-loop nonlinear system with external disturbance. Simulations are provided with the model uncertainties and external disturbance to verify the robustness of the proposed controller. Simulation results confirm the effectiveness of the desired robust controller.Associação Brasileira de Ciências Mecânicas2019-01-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252019000400508Latin American Journal of Solids and Structures v.16 n.4 2019reponame:Latin American journal of solids and structures (Online)instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)instacron:ABCM10.1590/1679-78255467info:eu-repo/semantics/openAccessRazmavar,VahidTalebi,H. A.Abdollahi,Farzaneheng2019-05-10T00:00:00Zoai:scielo:S1679-78252019000400508Revistahttp://www.scielo.br/scielo.php?script=sci_serial&pid=1679-7825&lng=pt&nrm=isohttps://old.scielo.br/oai/scielo-oai.phpabcm@abcm.org.br||maralves@usp.br1679-78251679-7817opendoar:2019-05-10T00:00Latin American journal of solids and structures (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)false
dc.title.none.fl_str_mv Nonlinear H∞ control scheme for a flying robot
title Nonlinear H∞ control scheme for a flying robot
spellingShingle Nonlinear H∞ control scheme for a flying robot
Razmavar,Vahid
L2-gain
Quadrotor
Nonlinear H∞
External disturbances
parametric uncertainties
title_short Nonlinear H∞ control scheme for a flying robot
title_full Nonlinear H∞ control scheme for a flying robot
title_fullStr Nonlinear H∞ control scheme for a flying robot
title_full_unstemmed Nonlinear H∞ control scheme for a flying robot
title_sort Nonlinear H∞ control scheme for a flying robot
author Razmavar,Vahid
author_facet Razmavar,Vahid
Talebi,H. A.
Abdollahi,Farzaneh
author_role author
author2 Talebi,H. A.
Abdollahi,Farzaneh
author2_role author
author
dc.contributor.author.fl_str_mv Razmavar,Vahid
Talebi,H. A.
Abdollahi,Farzaneh
dc.subject.por.fl_str_mv L2-gain
Quadrotor
Nonlinear H∞
External disturbances
parametric uncertainties
topic L2-gain
Quadrotor
Nonlinear H∞
External disturbances
parametric uncertainties
description Abstract In this paper, a nonlinear H∞ state feedback control is designed for both orientation and altitude of a flying robot system in the presence of external disturbance. An analytical solution is proposed for Hamilton-Jacobi-Isaac (HJI) equation. According to the quadrotor's orientation and altitude, a suitable storage function is considered and the appropriate robust control law is derived. The controller coefficients are tuned from Hamilton-Isaac-Jacobi inequality. The closed-loop nonlinear system with the proposed controller has L2-gain less than or equal to γ, and guarantee its asymptotic stability closed-loop nonlinear system with external disturbance. Simulations are provided with the model uncertainties and external disturbance to verify the robustness of the proposed controller. Simulation results confirm the effectiveness of the desired robust controller.
publishDate 2019
dc.date.none.fl_str_mv 2019-01-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252019000400508
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252019000400508
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/1679-78255467
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Associação Brasileira de Ciências Mecânicas
publisher.none.fl_str_mv Associação Brasileira de Ciências Mecânicas
dc.source.none.fl_str_mv Latin American Journal of Solids and Structures v.16 n.4 2019
reponame:Latin American journal of solids and structures (Online)
instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron:ABCM
instname_str Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron_str ABCM
institution ABCM
reponame_str Latin American journal of solids and structures (Online)
collection Latin American journal of solids and structures (Online)
repository.name.fl_str_mv Latin American journal of solids and structures (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
repository.mail.fl_str_mv abcm@abcm.org.br||maralves@usp.br
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