The control performance of aerial vehicles can be easily affected by measurement error in sensor output, dynamic model error, model parameter variation, parametric uncertainty, external disturbance, and dynamic coupling. This article presents a design of robust linear parameter-varying control technique with induced L 2-norm performance combined with linear matrix inequality pole region constraints for a lab-scale helicopter. A linear parameter-varying disturbance rejection observer is constructed that characterizes the L 2-norm performance of the linear parameter-varying system, which enables to estimate state information not only in the presence of external disturbance but also in case of fault occurrence or unavailability of some sensor output. Therefore, the proposed robust linear parameter-varying control scheme has the tendency to provide an adaptive control solution for stability proof and robust tracking performance. The performance of the proposed technique is confirmed both in simulation and in real time. Compared to conventional output feedback H N control technique, the proposed control technique yields a good tracking performance in the presence of disturbance, parameter variation, and dynamic coupling.
Today's most challenging thing in the world is security. Due to increasing terrorism activities in the world, countless lives of security persons and civilians including children and women are lost. The biggest problem faced by the security agencies is to track terrorists and trace the shelter of these people involved in these activities. Many security officers have lost their lives during raid on these shelters. The most desired solution of this issue is to have map of suspicious building/target and location of the persons in the building and other dangerous places that can significantly reducing the loss of life. Purpose of this research is to design a spy rover that can be sent to the suspicious place with IP camera and video transmitter, which can help us to build the map of that location using sonar sensors, encoders, gyroscope and compass signaling the map to the remote area through wireless network. Target area can be monitored by using private network. Despite its wide applications for defence purposes this robot can also be used to map any area affected by the disaster where human access is dangerous or impossible. The rover can be controlled wirelessly from the remote area and also it has ability of intelligent decisions due to sensors and internal program instruction. If wireless control is lost with rover then it is switched to the auto mode and performs its predefined task .Gyroscope helps to find the position of rover and to map the environment. Such kind of robot can help security personals to monitor suspected places and to carry out more successful raids at difficult place with the minimum casualty.
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