대한임베디드공학회논문지 (IEMEK Journal of Embedded Systems and Applications)

대한임베디드공학회 (Institute of Embedded Engineering of Korea)
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3 자유도 비행체 시스템의 이벤트 트리거 기반의 H2 자세 제어기 설계

Event-Triggered H2 Attitude Controller Design for 3 DOF Hover Systems

  • 투고 : 2020.05.15
  • 심사 : 2020.06.08
  • 발행 : 2020.06.30
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초록

This paper is concerned with the H2 attitude controller design for 3 degree of freedom (DOF) Hover systems with an event-triggered mechanism. The 3 DOF Hover system is an embedded platform for unmanned aerial vehicle (UAV) provided by Quanser. The mathematical model of this system is obtained by a linearization around operating points and it is represented as a linear parameter-varying (LPV) model. To save communication network resources, the event-triggered mechanism (ETM) is considered and the performance of the system is guaranteed by the H2 controller. The stabilization condition is obtained by using Lyapunov-Krasovskii functionals (LKFs) and some useful lemmas. The effectiveness of the proposed method is shown by simulation and experimental results.

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참고문헌

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