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Please use this identifier to cite or link to this item: http://dspace.ucuenca.edu.ec/handle/123456789/29098
Title: Nonlinear Robust H-Infinity PID Controller for the Multivariable System Quadrotor
Authors: Minchala Avila, Luis Ismael
Keywords: Attitude Regulation
Nonlinear System
Robust Control
Issue Date: 1-Mar-2016
metadata.dc.ucuenca.embargoend: 1-Jan-2022
metadata.dc.ucuenca.volumen: 14
metadata.dc.source: IEEE Latin America Transactions
metadata.dc.identifier.doi: 10.1109/TLA.2016.7459596
metadata.dc.type: Article
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.
URI: https://www.scopus.com/inward/record.uri?eid=2-s2.0-84968756971&doi=10.1109%2fTLA.2016.7459596&partnerID=40&md5=420dd9fdded37e00ca758c343f2ba1b1
ISSN: 15480992
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