Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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H-infinity Control System Design for a Quad-rotor

쿼드로터의 H-infinity 제어시스템 설계

  • Kang, Taesam (Department of Aerospace Information Engineering, Konkuk University) ;
  • Yoon, Kwang Joon (Department of Aerospace Information Engineering, Konkuk University) ;
  • Ha, Tae-Hyun (Department of Aerospace Information Engineering, Konkuk University) ;
  • Lee, Gigun (Department of Aerospace Information Engineering, Konkuk University)
  • 강태삼 (건국대학교 항공우주정보시스템공학과) ;
  • 윤광준 (건국대학교 항공우주정보시스템공학과) ;
  • 하태현 (건국대학교 항공우주정보시스템공학과) ;
  • 이기건 (건국대학교 항공우주정보시스템공학과)
  • Received : 2014.08.30
  • Accepted : 2014.09.22
  • Published : 2015.01.01
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Abstract

This paper describes the design of a robust H-infinity attitude controller for a quad-rotor. The linear model of a quad-rotor was estimated using PEM (Prediction Error Minimization) method with experimental input and output data. To design an attitude controller, an extended plant was constructed by adjusting several uncertainties and weighting functions. An H-infinity controller was obtained by applying H-infinity methodology to the extended plant. Through frequency-domain analysis, it was shown that the designed controller can overcome uncertainties up to 75% of the plant model. The performance and robustness of the controller were verified through time-domain simulation.

Keywords

References

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