Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations

  • Seif-El-Islam Hasseni LMSE Laboratory, Electrical Engineering Department, University of Biskra, Algeria
  • Latifa Abdou LI3CUB Laboratory, Electrical Engineering Department, University of Biskra, Algeria
Keywords: quadrotor, LPV systems, optimal weighting functions, cuckoo search, input saturations

Abstract

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.

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Published
2020-04-01
How to Cite
[1]
S.-E.-I. Hasseni and L. Abdou, “Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations”, Adv. technol. innov., vol. 5, no. 2, pp. 98-111, Apr. 2020.
Section
Articles