Robust Hierarchical Control for Uncertain Multivariable Hexarotor Systems
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-06-01
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
Multirotor helicopter attracts more attention due to its increased load capacity and being highly maneuverable.
However, these helicopters are uncertain multivariable systems, which pose a challenge for their robust controller design.
In this paper, a robust two-loop control scheme is proposed for a hexarotor system.
The resulted controller consists of a nominal controller and a robust compensator.
The robust compensators are added to restrain the influences of uncertainties such as nonlinear dynamics, coupling, parametric uncertainties, and external disturbances.
It is proven that the tracking errors are ultimately bounded with specified boundaries by choosing the parameters of the robust compensators.
Simulation results on the hexarotor demonstrate the effectiveness of the proposed control method.
American Psychological Association (APA)
Lin, Wei& Liu, Hao. 2015. Robust Hierarchical Control for Uncertain Multivariable Hexarotor Systems. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-8.
https://search.emarefa.net/detail/BIM-1072924
Modern Language Association (MLA)
Lin, Wei& Liu, Hao. Robust Hierarchical Control for Uncertain Multivariable Hexarotor Systems. Mathematical Problems in Engineering No. 2015 (2015), pp.1-8.
https://search.emarefa.net/detail/BIM-1072924
American Medical Association (AMA)
Lin, Wei& Liu, Hao. Robust Hierarchical Control for Uncertain Multivariable Hexarotor Systems. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-8.
https://search.emarefa.net/detail/BIM-1072924
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1072924