SYNTHRSIS OF QUADROTOR ROBUST GUIDANCE AND CONTROL SYSTEM VIA PARAMETERIZATION OF ALL STABILIZING Н-INFINITY STATE-FEEDBACK GAINS

A. A. Tunik, S. I. Ilnytska, O. A. Sushchenko

Abstract


The main purpose of the research is to develop the quadrotor robust control system adapted to the rejection of external disturbances. The methodology of control system synthesis is based on the parameterization of all stabilizing H-infinity static state feedback gains with applications to output feedback design. The main feature of the article is the development of the above-mentioned method relative to the quadrotor. The main results of the article are synthesized control laws and simulation of the closed-loop dynamics. The basic practical implication is the usage of synthesized control laws in guidance of the quadrotor motion in path following of circular and linear-piecewise reference tracks. Originality and value of the article are caused by the necessity to improve the quality of control by quadrotor motion.

 


Keywords


Quadrotor; guidance; linear matrix inequality approach; Riccati equation; robust control system; state-feedback gain; output feedback

References


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