Quadrotor Angle Stabilization using Full State Feedback by Partial Robust Pole Assignment Method: Pole Retention
- DOI
- 10.2991/csit-19.2019.32How to use a DOI?
- Keywords
- Unmanned aerial vehicles, state feedback, pole assignment, robust control
- Abstract
Quadrotor also referred to as quadcopter has an increasing reputation nowadays as a practical rotorcraft and an unmanned aerial vehicle (UAV). The high number of degrees of freedom makes stability a serious issue as well as a performance criterion. Although, many different methods and strategies of control are applied to different models of quadrotors, an important issue that has not been covered widely is the robustness of the control and parametric uncertainty notions. Robust control seeks to design systems which work despite changing operating conditions, measurement errors and unknown affects. This paper presents a deep analysis of the robust pole assignment method for full state feedback-controlled quadrotor. A new numerical method for a multi-linear coefficient uncertain polynomial is introduced using quasi-gamma stability. Pole retention method is used as a robust pole assignment method for designing the feedback controller to guarantee the stability of the system for an interval of state feedback coefficients. The initial state response of the uncertain quadrotor system is shown to verify the system’s performance.
- Copyright
- © 2019, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Mustafa Saraoğlu AU - Klaus Janschek AU - Andrey Morozov AU - Mehmet Turan Söylemez PY - 2019/12 DA - 2019/12 TI - Quadrotor Angle Stabilization using Full State Feedback by Partial Robust Pole Assignment Method: Pole Retention BT - Proceedings of the 21st International Workshop on Computer Science and Information Technologies (CSIT 2019) PB - Atlantis Press SP - 184 EP - 190 SN - 2589-4900 UR - https://doi.org/10.2991/csit-19.2019.32 DO - 10.2991/csit-19.2019.32 ID - Saraoğlu2019/12 ER -