Robust Adaptive H<inf>∞</inf> Control for Attitude Control of a Quadrotor

摘要

This paper proposes a new concept of adaptive robust H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> control strategy for attitude control of a quadrotor flying robot. The system modeling is obtained by Euler-Lagrange formulation. New proposed control system which is developed based on nonlinear H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> has a promising performance in terms of stabilization even in the presence of external disturbance, parametric uncertainties and unmodeled dynamics. Finally, in order to eliminate the effects of parametric uncertainties and external disturbance, parameters estimation is used to real time estimating of moment inertia parameters and wind. The parameter estimation is based on adaption rules of nonlinear H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> which feeds the estimates to linear parameters and closed loop stability was shown by Lyapunov stability theory.