LFTモデルとH∞性能による非線形UAV動力学のロバスト姿勢制御
Robust Attitude Control of Nonlinear UAV Dynamics with LFT Models and $\mathcal{H}_\infty$ Performance
非線形UAVの姿勢制御をLPV/LFTで不確かさ表現し、ジャイロのみでH∞ロバスト制御器を設計、PIDより風外乱下で優位と示した。
著者: Tanay Kumar, Raktim Bhattacharya
分類: eess.SY, cs.RO, cs.SY, math.OC
原文アブストラクト
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of $\mathcal{H}_\infty$ and classical PID controllers for multi-rotor attitude regulation in the presence of wind disturbances and gyroscope noise. The flight dynamics are modeled using a linear parameter-varying (LPV) framework, where nonlinearities and parameter variations are systematically represented as structured uncertainties within a linear fractional transformation formulation. A robust controller based on $\mathcal{H}_\infty$ formulation is designed using only gyroscope measurements to ensure guaranteed performance bounds. Nonlinear simulation results demonstrate the effectiveness of the robust controllers compared to classical PID control, showing significant improvement in attitude regulation under severe wind disturbances.