Model linearization and H∞, controller design for a quadrotor unmanned air vehicle: Simulation study
- 1 December 2014
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1490-1495
- https://doi.org/10.1109/icarcv.2014.7064536
Abstract
This paper describes the architecture of a quadrotor and its linearized dynamic model. The attitude of the quadrotor in the model state-space variables can be calculated with rotational matrix formed from quaternions instead of finite small angular displacement approximation. Based on H ∞ continuous time control method, a state feedback controller is designed to control the translational position and heading of the quadrotor.Keywords
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