Path tracking of a UAV via an underactuated \({\mathcal H}_\infty\) control strategy

DOI10.3166/EJC.17.194-213zbMath1228.93046OpenAlexW2093545871WikidataQ59231636 ScholiaQ59231636MaRDI QIDQ719201

Francisco R. Rubio, Guilherme V. Raffo, Manuel G. Ortega

Publication date: 10 October 2011

Published in: European Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.3166/ejc.17.194-213

zbMATH Keywords

robust controlpredictive controlunderactuated mechanical systemautonomous aerial vehiclenonlinear \({\mathcal H}_\infty\) control

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) (H^infty)-control (93B36) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

Related Items (9)

Adaptive trajectory tracking control approach for a model-scaled helicopter ⋮ A robust optimal control approach in the weighted Sobolev space for underactuated mechanical systems ⋮ A nonlinear H-infinity control method for multi-DOF robotic manipulators ⋮ Adaptive trajectory tracking controller for quadrotor systems subject to parametric uncertainties ⋮ Nonlinear robust adaptive hierarchical sliding mode control approach for quadrotors ⋮ Uniformly semiglobally exponential stability of vector field guidance law and autopilot for path-following ⋮ Robust Tracking Control of Helicopters Using Backstepping with Disturbance Observers ⋮ Robust Trajectory‐Tracking Control of a PVTOL under Crosswind ⋮ Disturbance observer-based control of UAVs with prescribed performance

Cites Work

• Nonlinear \(L_{2}\) control of a laboratory helicopter with variable speed rotors
• An integral predictive/nonlinear \(\mathcal H_{\infty}\) control structure for a quadrotor helicopter
• Sliding mode control of a class of underactuated systems
• Robustness improvement of a nonlinearH∞ controller for robot manipulators via saturation functions
• L/sub 2/-gain analysis of nonlinear systems and nonlinear state-feedback H/sub infinity / control
• A nonlinear H_∞ control design in robotic systems under parameter perturbation and external disturbance
• Nonlinear Model Predictive Control: An Introductory Review
• Stabilization of a mini rotorcraft with four rotors
• Quadratic optimization of motion coordination and control
• Autonomous vertical landing on an oscillating platform: An internal-model based approach

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