DISCRETE ROBUST CONTROLLER FOR QUADROTORS STABILITY

Adriano Bruno dos Santos Frutuoso¹; João Edgar Chaves Filho²; Andre Henrique Lameira dos Santos²

¹ IFAM; ² UFAM

doi:10.20906/CPS/COB-2015-0401

Resumo

This paper approaches the angles stability control of a quadrotor. The vehicle parts (mechanical structure and electronic devices), dynamic modeling, controllers design methodology and the experimental results are also presented. Attitude controllers were designed using a PD/H2 discrete control structure, which the gain of H2 part was performed by solving a convex optimization problem, described in linear matrix inequalities form. The experiments indicates that angles dynamic responses can be changed by setting the gain of H2, without modifying the gains of the proportional-derivative part. The results of PD/H2 controllers were compared with a PD controller, in order to evaluate the overshoot and settling time. Keywords: Quadrotor Stability, PD/H2 Structure Control, linear matrix inequalities

Palavras-chave: Quadrotor stability; PD/H2 Structure control; Linear matrix inequalities