Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations
2020 ◽
Vol 5
(2)
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pp. 98-111
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Keyword(s):
This article investigates the robust stabilization of the rotational subsystem of a quadrotor against external inputs (disturbances, noises, and parametric uncertainties) by the LFT-based LPV technique. By establishing the LPV attitude model, the LPV robust controller is designed for the system. The weighting functions are computed by Cuckoo Search, a meta-heuristic optimization algorithm. Besides, the input saturations are also taken into account through the Anti-Windup compensation technique. Simulation results show the robustness of the closed-loop system against disturbances, measurement noises, and the parametric uncertainties.
2014 ◽
Vol 573
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pp. 328-333
2017 ◽
Vol 40
(9)
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pp. 2901-2911
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2011 ◽
Vol 133
(5)
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2010 ◽
Vol 55
(1-4)
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pp. 293-306
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2012 ◽
Vol 226
(6)
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pp. 646-663
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2011 ◽
Vol 418-420
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pp. 185-191
2011 ◽
Vol 226
(2)
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pp. 204-214
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Keyword(s):
2018 ◽
Vol 141
(4)
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Keyword(s):
2016 ◽
Vol 2016
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pp. 1-24
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