Full dynamics and control of a quadrotor using quantitative feedback theory

Abstract

Summary Mathematical modeling and simulation of unmanned aerial vehicles, especially, quadrotor modeling are not a simple work because of their complex structure, nonlinear dynamics and under‐actuated features. This paper presents the development of a general parametric model of a quadrotor with complete dynamic. First, a new robust PID control strategy based on QFT as a robust controller design method is introduced and designed for a multivariable nonlinear quadrotor. Then, the robustness of the control strategy is verified by simulations of the linear and nonlinear cases in the presence of uncertainties. The results demonstrate that the proposed PID robust controller can guarantee system stabilization, as well as roll, pitch and yaw tracking, while the disturbance rejection of quadrotor is achieved properly. Copyright © 2015 John Wiley & Sons, Ltd.

A QFT Robust Controller as a Remedy for TRMS

“…Desired timedomain responses are translated into frequency domain tolerances, which lead to bounds (or constraints) on the loop transmission function. The design process enables the designer to a trade-off between compensator complexity and system performance (Gharib & Moavenian, 2016;Jahanpour et al, 2015;Moavenian et al, 2011;Moeinkhah, et al, 2014).…”

“…( ) ( , ); p s p s p ∈ α α ∈ , where α is the vector of uncertain parameters for uncertainty structured of p(s) (Amiri-M et al, 2009;Gharib et al, 2010;Gharib & Daneshvar, 2019;Gharib et al, 2011;Gharib & Moavenian, 2016;Horowitz, 1992;Jahanpour et al, 2015).…”

“…This section uses the QFT method (Amiri-M et al, 2009;Gharib & Moavenian, 2016;Jahanpour et al, 2015;Nataraj, 2002) to design a controller for each plane of the TRMS. The objectives of this section are to synthesize suitable controllers and pre-filters such that:…”