Mu-based trajectory tracking control for a quad-rotor UAV
Abdallah Hossam
Ayman El-Badawy
Mechatronics Engineering Department,German University in Cairo,5th Settlement,New Cairo,Cairo 11835,Egypt
摘要：In this paper,the design and application of a robust mu-synthesis-based controller for quad-rotor trajectory tracking are presented.The proposed design approach guarantees robust performance over a weakly nonlinear range of operation of the quad-rotor,which is a practical range that suits various applications.The controller considers different structured and unstructured uncertainties,such as unmodeled dynamics and perturbation in the parameters.The controller also provides robustness against external disturbances such as wind gusts and wind turbulence.The proposed controller is fixed and linear;therefore,it has a very low computational cost.Moreover,the controller meets all design specifications without tuning.To validate this control strategy,the proposed approach is compared to a linear quadratic regulator(LQR)controller using a high-fidelity quad-rotor simulation environment.In addition,the experimental results presented show the validity of the proposed control strategy.
机标关键词：controlmu-basedquad-rotortrackingtrajectory
论文发表日期：2022-11-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：19( 536-554 )
英文信息