NONLINEAR ∞ H CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE

A., MOKHTAR; A., BENALLEGUE; Y., ORLOV; B., DAACHI

doi:10.21608/amme.2008.39292

NONLINEAR ∞ H CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE

Document Type : Original Article

Authors

¹ University of Sciences and Technology Oran, BP1505 El M'naour Oran Algeria.

² Robotic Laboratory of Versailles, 10 avenue de l'Europe Velizy, France.

³ Scientific Research Technology Development (CITEDI-IPN), Ave. del Parque 1310 Mesa de Otay, Tijuana, B.C., Mexico.

⁴ Laboratoire Images, Signaux et Intelligence Artificielle (LISSI) 122-124, rue Paul Armangot 94200 Vitry sur Seine (France).

10.21608/amme.2008.39292

Abstract

ABSTRACT
A nonlinear ∞ H output feedback controller is proposed and coupled to a PI controller to
regulate an UAV in the presence of aerodynamic force and moment perturbations. The
plant to be controlled is a Quadrotor helicopter described by nonlinear dynamics with
plant uncertainties due to the variations of inertia moments and payload operation. A
robust state estimation is considered under model uncertainties as well as
external/measurement disturbances. Performance issues of the controller are illustrated
in a simulation study made for an UAV prototype.

Keywords