Nonlinear Robust H-Infinity PID Controller for the Multivariable System Quadrotor

This paper presents the methodology of design of a nonlinear robust controller for attitude regulation and its implementation in an experimental platform of an unmanned aerial vehicle (UAV) quadrotor. Details on the kinematic and dynamic modeling based on the Euler-Lagrange formalism are provided, as well as the particulars of the design of a nonlinear robust H-infinity PID controller to regulate the rotational moments. The performance and effectiveness of the proposed controller are tested in a simulation and an experimental platform. The performance of the proposed controller is compared with a conventional PID controller by using the integral square error (ISE) as performance parameter. Experimental results help to demonstrate the correct operation of the system for real-time applications in the presence of unmodeled dynamics and the uncertainties of the parameters.

[1]  Rogelio Lozano,et al.  Modelado y Estabilización de un Helicóptero con Cuatro Rotores , 2007 .

[2]  Section De Microtechnique,et al.  design and control of quadrotors with application to autonomous flying , 2007 .

[3]  Alireza Modirrousta,et al.  A novel nonlinear hybrid controller design for an uncertain quadrotor with disturbances , 2015 .

[4]  Reza Olfati-Saber,et al.  Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles , 2001 .

[5]  Yaohong Qu,et al.  Fault-tolerant control with linear quadratic and model predictive control techniques against actuator faults in a quadrotor UAV , 2013, 2013 Conference on Control and Fault-Tolerant Systems (SysTol).

[6]  Youmin Zhang,et al.  Passive and active nonlinear fault-tolerant control of a quadrotor unmanned aerial vehicle based on the sliding mode control technique , 2013, J. Syst. Control. Eng..

[7]  Jose de Jesus Rubio,et al.  Comparison of two quadrotor dynamic models , 2014, IEEE Latin America Transactions.

[8]  Rogelio Lozano,et al.  Non-linear Control for Underactuated Mechanical Systems , 2001 .

[9]  MOHD ARIFFANAN MOHD BASRI,et al.  Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance , 2015 .

[10]  A. Schaft.  L/sub 2/-gain analysis of nonlinear systems and nonlinear state-feedback H/sub infinity / control , 1992 .

[11]  Parviz Famouri,et al.  Assessment of Automatic Generation Control performance index criteria , 2014, 2014 IEEE PES T&D Conference and Exposition.

[12]  Robert Mahony,et al.  Modelling and control of a large quadrotor robot , 2010 .

[13]  I Postlethwaite,et al.  Robust Non-Linear H∞/Adaptive Control of Robot Manipulator Motion , 1994 .

[14]  G. Raffo,et al.  An integral predictive / nonlinear H ∞ control structure for a quadrotor helicopter , 2009 .

[15]  Konstantin Kondak,et al.  Robot-Assisted Landing of VTOL UAVs: Design and Comparison of Coupled and Decoupling Linear State-Space Control Approaches , 2016, IEEE Robotics and Automation Letters.

[16]  Liu Hao,et al.  Robust attitude control of a quadrotor helicopter with unknown parameters , 2013, Proceedings of the 32nd Chinese Control Conference.

[17]  John J. Craig,et al.  Introduction to Robotics Mechanics and Control , 1986 .

[18]  Ramli Adnan,et al.  Performance of FOPI with error filter based on controllers performance criterion (ISE, IAE and ITAE) , 2015, 2015 10th Asian Control Conference (ASCC).

[19]  Jie Jin,et al.  Survey of advances in control algorithms of quadrotor unmanned aerial vehicle , 2015, 2015 IEEE 16th International Conference on Communication Technology (ICCT).

[20]  Taesam Kang,et al.  Linear quadrotor modelling and attitude controller design based on experimental data , 2015, 2015 15th International Conference on Control, Automation and Systems (ICCAS).

[21]  Jesús Alberto Meda Campaña,et al.  Experimental vision regulation of a quadrotor , 2015, IEEE Latin America Transactions.

[22]  R. Silva-Ortigoza,et al.  Trajectory Tracking in a Mobile Robot without Using Velocity Measurements for Control of Wheels , 2008, IEEE Latin America Transactions.

[23]  Chris J. B. Macnab,et al.  Robust adaptive control of a quadrotor helicopter , 2011 .

[24]  Pasquale Daponte,et al.  Metrology for drone and drone for metrology: Measurement systems on small civilian drones , 2015, 2015 IEEE Metrology for Aerospace (MetroAeroSpace).

[25]  Yibo Li,et al.  A survey of control algorithms for Quadrotor Unmanned Helicopter , 2012, 2012 IEEE Fifth International Conference on Advanced Computational Intelligence (ICACI).

[26]  James M. Conrad,et al.  A survey of quadrotor Unmanned Aerial Vehicles , 2012, 2012 Proceedings of IEEE Southeastcon.

[27]  Taeyoung Lee,et al.  Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3) , 2013 .

[28]  Marc Pollefeys,et al.  PX4: A node-based multithreaded open source robotics framework for deeply embedded platforms , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[29]  G.V. Raffo,et al.  Backstepping/nonlinear H∞ control for path tracking of a quadrotor unmanned aerial vehicle , 2008, 2008 American Control Conference.

[30]  Marc Pollefeys,et al.  PIXHAWK: A system for autonomous flight using onboard computer vision , 2011, 2011 IEEE International Conference on Robotics and Automation.

[31]  Luis F. Luque-Vega,et al.  Robust block second order sliding mode control for a quadrotor , 2012, J. Frankl. Inst..

[32]  Samir Bouabdallah,et al.  Design and control of quadrotors with application to autonomous flying , 2007 .

[33]  A. Schaft,et al.  L2-Gain and Passivity in Nonlinear Control , 1999 .

[34]  Manuel G. Ortega,et al.  Robustness improvement of a nonlinear H ∞ controller for robot manipulators via saturation functions , 2005 .