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

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

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. Th...

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Main Authors: Seif-El-Islam Hasseni, Latifa Abdou
Format: Article
Language:English
Published: Taiwan Association of Engineering and Technology Innovation 2020-04-01
Series:Advances in Technology Innovation
Subjects:
quadrotor
LPV systems
optimal weighting functions
cuckoo search
input saturations
Online Access:http://ojs.imeti.org/index.php/AITI/article/view/3953
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spelling doaj-79ea138fc19e49c187f39eb85c1e2d222020-11-25T02:30:56ZengTaiwan Association of Engineering and Technology InnovationAdvances in Technology Innovation2415-04362518-29942020-04-0152Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input SaturationsSeif-El-Islam Hasseni0Latifa Abdou1LMSE Laboratory, Electrical Engineering Department, University of Biskra, AlgeriaLI3CUB Laboratory, Electrical Engineering Department, University of Biskra, Algeria 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. http://ojs.imeti.org/index.php/AITI/article/view/3953quadrotorLPV systemsoptimal weighting functionscuckoo searchinput saturations
collection DOAJ
language English
format Article
sources DOAJ
author Seif-El-Islam Hasseni
Latifa Abdou
spellingShingle Seif-El-Islam Hasseni
Latifa Abdou
Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations
Advances in Technology Innovation
quadrotor
LPV systems
optimal weighting functions
cuckoo search
input saturations
author_facet Seif-El-Islam Hasseni
Latifa Abdou
author_sort Seif-El-Islam Hasseni
title Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations
title_short Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations
title_full Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations
title_fullStr Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations
title_full_unstemmed Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations
title_sort robust lpv control for attitude stabilization of a quadrotor helicopter under input saturations
publisher Taiwan Association of Engineering and Technology Innovation
series Advances in Technology Innovation
issn 2415-0436
2518-2994
publishDate 2020-04-01
description 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.
topic quadrotor
LPV systems
optimal weighting functions
cuckoo search
input saturations
url http://ojs.imeti.org/index.php/AITI/article/view/3953
work_keys_str_mv AT seifelislamhasseni robustlpvcontrolforattitudestabilizationofaquadrotorhelicopterunderinputsaturations
AT latifaabdou robustlpvcontrolforattitudestabilizationofaquadrotorhelicopterunderinputsaturations
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