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CEAS EuroGNC 2024 |
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Application of Reduced-Order Robust Control to Multi-Rotor Stabilization and Guidance |
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| Abstract: This paper presents a cascaded robust control scheme for fully actuated hexacopter drones. The system model is first derived using Newton-Euler equations and subsequently linearized. H-infinity synthesis is then used to design controllers for thrust, stabilization and guidance dynamics. A structured constrained formulation is used to address the problem, allowing for a significant reduction in the controllers' order compared to the classical full-order approach, while keeping the same robustness and performance levels. mu-analysis is then applied to further evaluate the robustness properties of the closed-loop system in the presence of parametric uncertainties. The designed controllers are finally tested on a nonlinear simulator using MATLAB. Two main operational scenarios are considered: hovering with a cable-suspended pendulum and flying through predefined waypoints, each time in the presence of external perturbations. | ||||||
| Keywords: Unmanned Aerial Vehicle; Structured H-infinity Control; Stabilization and Guidance; Fully Actuated Hexacopter; Cable Suspended Pendulum | ||||||
 View PDF CEAS-GNC-2024-055 |
| Mohamad Hachem, Clément Roos, Thierry Miquel: Application of Reduced-Order Robust Control to Multi-Rotor Stabilization and Guidance. Proceedings of the 2024 CEAS EuroGNC conference. Bristol, UK. June 2024. CEAS-GNC-2024-055. |
| BibTeX entry: @Incollection{CEAS-GNC-2024-055, author = {Hachem, Mohamad and Roos, Clément and Miquel, Thierry}, title = {Application of Reduced-Order Robust Control to Multi-Rotor Stabilization and Guidance}, booktitle = {Proceedings of the 2024 {CEAS EuroGNC} conference}, address = {Bristol, UK}, month = jun, year = {2024}, note = {CEAS-GNC-2024-055} } |