Original scientific paper

ROBUST OUTPUT TRACKING CONTROL OF A QUADROTOR IN THE PRESENCE OF EXTERNAL DISTURBANCES

Josip Kasać orcid.org/0000-0002-6071-0368 ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia
Stojan Stevanović ; Institute of Robotics and Mechatronics, German Aerospace Center DLR, Oberpfaffenhofen-Wessling, Germany
Tihomir Žillić orcid.org/0000-0001-7951-444X ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia
Josip Stepanić orcid.org/0000-0003-0674-9883 ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia

Abstract

In this paper, a robust output tracking controller for the quadrotor helicopter is proposed. The proposed controller requires the measurement of only four state variables: positions in the inertial coordinate frame and the yaw angle. Also, the controller is robust with respect to the unmodelled dynamics and provides rejections of all external force and torque disturbances. The effectiveness of the proposed controller is tested on a simulation example of a quadrotor tracking under the influence of wind which is modelled as unmatched external force disturbances in the horizontal plane.

Keywords

quadrotor; tracking control; robust control; output control

Hrčak ID:

116190

URI

https://hrcak.srce.hr/116190

Publication date:

13.2.2014.

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