Robust optimal attitude controller for MIMO uncertain hexarotor MAVs: disturbance observer-based
type: Item
instance of: scholarly article
title: Robust optimal attitude controller for MIMO uncertain hexarotor MAVs: disturbance observer-based
zbMATH Open document ID: 1400.93279
DOI: 10.1155/2016/3154842
author: Nurul Dayana Salim
author: Dafizal Derawi
author: Hairi Zamzuri
author: Kenzo Nonami
author: Mohd Azizi Abdul Rahman
published in: Mathematical Problems in Engineering
publication date: 2018-10-12T00:00:00Z
review text: Summary: This paper proposes a robust optimal attitude control design for multiple-input, multiple-output (MIMO) uncertain hexarotor micro aerial vehicles (MAVs) in the presence of parametric uncertainties, external time-varying disturbances, nonlinear dynamics, and coupling. The parametric uncertainties, external time-varying disturbances, nonlinear dynamics, and coupling are treated as the total disturbance in the proposed design. The proposed controller is achieved in two simple steps. First, an optimal linear-quadratic regulator (LQR) controller is designed to guarantee that the nominal closed-loop system is asymptotically stable without considering the total disturbance. After that, a disturbance observer is integrated into the closed-loop system to estimate the total disturbance acting on the system. The total disturbance is compensated by a compensation input based on the estimated total disturbance. Robust properties analysis is given to prove that the state is ultimately bounded in specified boundaries. Simulation results illustrate the robustness of the disturbance observer-based optimal attitude control design for hovering and aggressive flight missions in the presence of the total disturbance.
Mathematics Subject Classification ID: 93D21
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 6953016
Wikidata QID: Q59130807
describes a project that uses: Robotics
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2016/3154842
OpenAlex ID: W2383469464
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description: scientific article; zbMATH DE number 6953016