In this paper, a nonlinear H∞ state feedback control is designed for both orientation and altitude of a flying robot system in the presence of external disturbance. An analytical solution is proposed for Hamilton-Jacobi-Isaac (HJI) equation. According to the quadrotor's orientation and altitude, a suitable storage function is considered and the appropriate robust control law is derived. The controller coefficients are tuned from Hamilton-Isaac-Jacobi inequality. The closed-loop nonlinear system with the proposed controller has L2-gain less than or equal to γ, and guarantee its asymptotic stability closed-loop nonlinear system with external disturbance. Simulations are provided with the model uncertainties and external disturbance to verify the robustness of the proposed controller. Simulation results confirm the effectiveness of the desired robust controller.
<span>In this article a novel composite control technique is introduced. We added a nonlinear disturbance observer to a nonlinear H_∞ control to form this composite controller. The quadrotor kinematics and dynamics is formulated using euler angles and parameters. After that, this nonlinear robust controller is developed for this flying robot attitude control for the outdoor conditions. Because under these conditions the flying robot, experiences both external disturbance and parametric uncertainty. Stability analysis is also presented to show the global asymptotical stability using a Lyapunov function. The simulation results showed that the suggested composite controller had a better performance in comparison with a nonlinear H_∞ control scheme.</span>
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