Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations
四旋翼直升机姿态稳定的鲁棒LPV控制
作者: Seif-El-Islam HasseniLatifa Abdou
作者单位: 1LMSE Laboratory, Electrical Engineering Department, University of Biskra, Algeria
2LI3CUB Laboratory, Electrical Engineering Department, University of Biskra, Algeria
刊名: Advances in Technology Innovation, 2020, Vol.5 (2), pp.98-111
来源数据库: Taiwan Association of Engineering and Technology Innovation
原始语种摘要: This article investigates the robust stabilization of the rotational subsystem of a quadrotor against external inputs (disturbances, noises, and parametric uncertainties) by the LFT-based LPV technique. By establishing the LPV attitude model, the LPV robust controller is designed for the system. The weighting functions are computed by Cuckoo Search, a meta-heuristic optimization algorithm. Besides, the input saturations are also taken into account through the Anti-Windup compensation technique. Simulation results show the robustness of the closed-loop system against disturbances, measurement noises, and the parametric uncertainties.
全文获取路径: 台湾工程与科技创新学会 
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关键词翻译
关键词翻译
  • robust 牢固的
  • parametric 子宫旁的
  • technique 技术
  • account 计算
  • subsystem 分系统
  • optimization 最佳化
  • rotational 转动
  • external 外部的
  • closed 闭路的
  • algorithm 算法