This paper proposes a robust optimal attitude control design for multiple-input, multiple-output (MIMO) uncertain hexarotor micro aerial vehicles (MAVs) in the presence of parametric uncertainties, external time-varying disturbances, nonlinear dynamics, and coupling. The parametric uncertainties, external time-varying disturbances, nonlinear dynamics, and coupling are treated as the total disturbance in the proposed design. The proposed controller is achieved in two simple steps. First, an optimal linear-quadratic regulator (LQR) controller is designed to guarantee that the nominal closed-loop system is asymptotically stable without considering the total disturbance. After that, a disturbance observer is integrated into the closed-loop system to estimate the total disturbance acting on the system. The total disturbance is compensated by a compensation input based on the estimated total disturbance. Robust properties analysis is given to prove that the state is ultimately bounded in specified boundaries. Simulation results illustrate the robustness of the disturbance observer-based optimal attitude control design for hovering and aggressive flight missions in the presence of the total disturbance.
from #AlexandrosSfakianakis via Alexandros G.Sfakianakis on Inoreader http://ift.tt/1TcCZ8f
via IFTTT
Εγγραφή σε:
Σχόλια ανάρτησης (Atom)
Δημοφιλείς αναρτήσεις
-
Publication date: Available online 4 January 2018 Source: European Journal of Radiology Author(s): Peiyao Zhang, Jing Wang, Qin Xu, Zhen...
-
Related Articles Anatomic parameters of the sacral lamina for osteosynthesis in transverse sacral fractures. Surg Radiol Anat....
-
Background Hyperthyroidism is associated with increased thrombotic risk. As contact system activation through formation of neutrophil extrac...
-
BACKGROUND AND PURPOSE: Dengue is a common arboviral disease, which uncommonly involves the brain. There has been a recent surge in dengu...
-
Noncaloric sweeteners (NCS) are food additives used to provide sweetness without adding calories. Their consumption has become more widespre...
-
from Imaging via alkiviadis.1961 on Inoreader https://ift.tt/2v5fvQ4
-
Abstract Purpose Investigate in patients with metastatic and/or irresectable colorectal cancer treated with systemic treatment with cape...
-
Abstract Objectives (1) To illustrate and describe the main types of pancreatic surgery; (2) to discuss the normal findings after pancre...
-
A 67-year-old woman was referred to our hospital because of gradually increasing dyspnoea on exertion for 6 months. Chest CT scan showed sub...
Δεν υπάρχουν σχόλια:
Δημοσίευση σχολίου