Nonlinear H∞ Controller for the Quad-Rotor Helicopter with Input Coupling
Nonlinear H∞ Controller for the Quad-Rotor Helicopter with Input Coupling
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DOI：
10.3182/20110828-6-it-1002.02453
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
G. Raffo;M. Ortega;F. Rubio
中科院分区：
文献类型：
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作者：
G. Raffo;M. Ortega;F. Rubio
摘要针对具有输入耦合的欠驱动机械系统，提出了一种非线性H ∞控制律。除了受控自由度（DOF），所提出的控制器考虑的动态的剩余自由度的成本变量，这使得他们稳定。对欠驱动机械系统进行归一化处理，得到对角惯性矩阵，并对不同的自由度进行加权。该控制器应用于四旋翼直升机进行路径跟踪，其机械结构已被修改，以获得纵向和横向运动与滚动和俯仰运动之间的耦合。在存在气动干扰、结构和参数不确定性的情况下，仿真结果证实了所提出的控制器的有效性和鲁棒性。版权所有© 2011 IFAC。
Abstract This paper presents a nonlinear H∞ control law for underactuated mechanical systems with input coupling. Apart from the controlled degrees of freedom (DOF), the proposed controller considers the dynamics of the remaining DOF in the cost variable, which allows to stabilize them. The underactuated mechanical system is normalized to obtain a diagonal inertia matrix allowing to weigh with various criteria different DOF. This controller is applied to the quadrotor helicopter to perform path tracking, whose mechanical structure has been modified in order to obtain coupling between longitudinal and lateral movements with roll and pitch motions. Simulation results in presence of aerodynamic disturbances, structural and parametric uncertainties are presented to corroborate the effectiveness and the robustness of the proposed controller. Copyright © 2011 IFAC.