TY - GEN
T1 - Design and implementation of an H∞ controller for a quadrotor helicopter
AU - Rich, Matt
AU - Elia, Nicola
AU - Jones, Phillip
PY - 2013
Y1 - 2013
N2 - In this paper, we present a six degree of freedom model of a quadrotor helicopter, onboard electronics, and a networked control system. We follow this with a procedure for designing robust control for quasi hover conditions using Glover-McFarlane loop shaping. The model is presented symbolically as well as numerically for the specific system used in our experiments. In our control design procedure we take steps to minimize potential difficulties of MIMO loop shaping, while still producing effective linear control which is robust to a class of generic uncertainty. Finally, we present both simulation and experimental implementation results and find them in agreement.
AB - In this paper, we present a six degree of freedom model of a quadrotor helicopter, onboard electronics, and a networked control system. We follow this with a procedure for designing robust control for quasi hover conditions using Glover-McFarlane loop shaping. The model is presented symbolically as well as numerically for the specific system used in our experiments. In our control design procedure we take steps to minimize potential difficulties of MIMO loop shaping, while still producing effective linear control which is robust to a class of generic uncertainty. Finally, we present both simulation and experimental implementation results and find them in agreement.
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U2 - 10.1109/MED.2013.6608871
DO - 10.1109/MED.2013.6608871
M3 - Conference contribution
AN - SCOPUS:84885197964
SN - 9781479909971
T3 - 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
SP - 1189
EP - 1198
BT - 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
T2 - 2013 21st Mediterranean Conference on Control and Automation, MED 2013
Y2 - 25 June 2013 through 28 June 2013
ER -