Modeling and robust attitude control of a quadrotor system

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Title:	Modeling and robust attitude control of a quadrotor system
Author:	Torres Gaitan, Angelica; Bolea Monte, Yolanda
Other authors:	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents
Abstract:	This paper describes the no-lineal model, and attitude Robust control of a Quadrotor MIMO System (UAV). The dynamic model of the UAV is transformed into a LTI system and approximated by a SISO system due to the low coupling among the canals of the system. The unknown model parameters have been taken of the system implemented in the Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV). Finally, robust controller has been designed using H8 theory. The effectiveness and performance of the proposed control approach have been proved in simulation using MATLAB. © 2013 IEEE.
Subject(s):	-Àrees temàtiques de la UPC::Informàtica::Automàtica i control -MIMO systems -coupled system -LTI system -MIMO system -Quadrotor -robust control -Sistemes MIMO
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Document type:	Article - Published version Conference Object
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