Design and implementation of an H∞ controller for a quadrotor helicopter

Matt Rich, Nicola Elia, Phillip Jones

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
Pages1189-1198
Number of pages10
DOIs
StatePublished - Oct 15 2013
Externally publishedYes
Event2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Platanias-Chania, Crete, Greece
Duration: Jun 25 2013Jun 28 2013

Publication series

Name2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings

Other

Other2013 21st Mediterranean Conference on Control and Automation, MED 2013
CountryGreece
CityPlatanias-Chania, Crete
Period6/25/136/28/13

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