ROBUST NONLINEAR H∞ AND MPC CONTROL FOR PATH TRACKING OF A QUADROTOR THROUGH ESTIMATION OF SYSTEM PARAMETERS

摘要

ARTICLE INFORMATION ABSTRACT Original Research Paper Received 26 April 2016 Accepted 31 May 2016 Available Online 13 July 2016 In this paper, a trajectory tracking control strategy for a quadrotor flying robot is developed. At first, dynamic model is obtained by Lagrange-Euler approach. Then, control structure, consisting of a modelbased predictive controller, has been used based on state space error to track transitional movements for reference trajectory and also robust nonlinear H control is applied for stabilizing the rotational movements and rejecting the external disturbance. In both controllers the integral of the position error is considered, allowing the achievement of a null steady-state error when sustained disturbances are acting on the system. The external disturbances are considered as aerodynamic torques. If uncertainties increase, the designed control system unable to path tracking properly. So finally, in order to eliminate the effects of parameter uncertainties the recursive least squares is used for estimating mass and moment inertia parameters which are linear and it is applied to the control system. 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 and parametric uncertainties.