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   Control of Quadrotor Using Sliding Mode Disturbance Observer and Nonlinear H∞  
نویسنده Alizadeh Ghasem ,Ghasemi Kobra
منبع international journal of robotics - 2015 - دوره : 4 - شماره : 1 - صفحه:38 -46
فایل تمام متن
چکیده    In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control based on disturbance observer (SMDO) to track the reference trajectory together with a nonlinear H∞ controller to stabilize the rotational movements. Simulation results in the presence of aerodynamic disturbances and parametric uncertainties are presented to corroborate the effectiveness and the robustness of the proposed strategy.
کلیدواژه Disturbance Observer ,Nonlinear H∞ Control ,Sliding Mode Control ,Quadrotor Helicopter
آدرس university of tabriz , isfahan university of technology
پست الکترونیکی k.ghasemi@ec.iut.ac.ir

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