Robust H∞ control for path tracking of a quadrotor through estimation of system parameters

摘要

In this paper, a robust trajectory tracking control strategy for a quadrotor flying robot is developed. At first, the quadrotor's dynamic model is obtained by Euler - Newton approach. Then, control strategy, consist of a robust linear H∞ control to track transitional movements for reference trajectory and a robust nonlinear H∞ control for rotational movements and rejecting the external disturbances. Finally, in order to eliminate the effects of parameter uncertainties the recursive least squares is used for online estimating of mass and moment inertia parameters. Simulation results show that by using estimation of system parameters, the proposed control system has a promising performance in terms of stabilization and position tracking even in the presence of external disturbance, parametric uncertainties and unmodeled dynamics.