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

Seif-El-Islam Hasseni; Latifa Abdou

doi:10.46604/aiti.2020.3953

Authors

Seif-El-Islam Hasseni LMSE Laboratory, Electrical Engineering Department, University of Biskra, Algeria
Latifa Abdou LI3CUB Laboratory, Electrical Engineering Department, University of Biskra, Algeria

DOI:

https://doi.org/10.46604/aiti.2020.3953

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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