Robust Hierarchical Control for Uncertain Multivariable Hexarotor Systems. (1st June 2015)

• Record Type: Journal Article
• Authors: Lin, Wei; Liu, Hao
• Other Names: Mino Hiroyuki Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2015(2015)
• Publication Date: 2015-06-01
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2015/108481
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : Multirotor helicopter attracts more attention due to its increased load capacity and being highly maneuverable. However, these helicopters are uncertain multivariable systems, which pose a challenge for their robust controller design. In this paper, a robust two-loop control scheme is proposed for a hexarotor system. The resulted controller consists of a nominal controller and a robust compensator. The robust compensators are added to restrain the influences of uncertainties such as nonlinear dynamics, coupling, parametric uncertainties, and external disturbances. It is proven that the tracking errors are ultimately bounded with specified boundaries by choosing the parameters of the robust compensators. Simulation results on the hexarotor demonstrate the effectiveness of the proposed control method.