Robust Control of a Quadrotor

Subject Areas : journal of Artificial Intelligence in Electrical Engineering

Kamal Torabi ¹ , Alireza Ghafari Kashani ²

1 -
2 -

Received: 2016-02-22 Accepted : 2016-02-22 Published : 2016-12-01

Keywords:

References:

[1] [P. Castillo, R. Lozano, and A. E. Dzul, (2005). Modelling and control of mini-flying machines. London, UK: Springer-Verlag.
[2] [I. Fantoni, and R. Lozano, (2002). Non-linear control for underactuated mechanical systems. London: Springer-Verlag.
[3] V. Mistler, A. Benallegue, and N.K. M'Sirdi, (2001). “Exact linearization and noninteracting control of a 4 rotors helicopter via dynamic feedback,” In Proc. IEEE int. workshop on robot and human inter. Communic.
[4] S. Bouabdallah, P. Murrieri, and R. Siegwart, (2004). “Design and control of an indoor micro quadrotor,” In Proc. IEEE Int. conf. on rob. and automat., Vol. 5, New Orleans, USA, pp. 4393_4398.
[5] P. Castillo, A. Dzul, R. Lozano, (2004). “Real-time stabilization and tracking of a four-rotor mini rotorcraft,” IEEE Trans. Control Syst. Tech. 12(4), 510–516.
[6] Z. Zuo, (2010). “Trajectory tracking control design with command-filtered compensation for a quadrotor,” IET Control Theory Applic. 4(11), 2343–2355.
[7] A. Tayebi, S. McGilvray, (2006). “Attitude stabilization of a VTOL quadrotor aircraft,” IEEE Trans. Control Syst. Tech. 14(3), 562–571.
[8] G.V. Raffo, M.G. Ortega, and F.R. Rubio, (2010). “An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter,” Automatica 46(1), 29–39.
[9] A. Das, K. Subbarao, and F. Lewis, (2009). “Dynamic inversion with zero-dynamics stabilization for quadrotor control,” IET Control Theory Applic. 3(3), 303–314.
[10] S. Bertrand, N. Guenard, T. Hamel, H. Piet-Lahanier, and L. Eck, (2011). “A hierarchical controller for miniature VTOL UAVs: design and stability analysis using singular perturbation theory,” Control Eng. Pract. 19(10), 1099–1108.
[11] G.M. Hoffmann, H. Huang, S.L. Waslander, and C.J. Tomlin, (2011). “Precision flight control for a multi-vehicle quadrotor helicopter testbed,” Control Eng. Pract. 19(9), 1023–1036.
[12] J.C.A. Vilchis, B. Brogliato, A. Dzul, R. Lozano, (2003). “Nonlinear modelling and control of helicopters,” Automatica 45(10), 1583–1596.
[13] K. Peng, G. Cai, B.M. Chen, M. Dong, K.Y. Lum, and T.H. Lee, (2009). “Design and implementation of an autonomous flight control law for a UAV helicopter,” Automatica 39(9), 2333–2338.
[14] Moradi, Mohammad Mehdi. "The reduction coefficient of PID controller by using PSO algorithm method for Flexible single-arm robot system." Journal of Artificial Intelligence in Electrical Engineering 3.12 (2015): 44-54.