66876

Автор(ы): 

Автор(ов): 

4

Параметры публикации

Тип публикации: 

Доклад

Название: 

Discrete-time H∞ optimization for quadcopter altitude control

Электронная публикация: 

Да

DOI: 

10.1109/MED51440.2021.9480354

Наименование конференции: 

  • 29th Mediterranean Conference on Control and Automation (MED'2021, Puglia, Italy)

Наименование источника: 

  • Proceedings of the 29th Mediterranean Conference on Control and Automation (MED'2021, Puglia, Italy)

Город: 

  • Puglia, Italy

Издательство: 

  • IEEE Xplore digital library

Год издания: 

2021

Страницы: 

126-131
Аннотация
The discrete-time controller in the form of a difference equation is implemented into a standard quadcopter flight controller for quadcopter altitude control, where the altitude is the controlled measured value. Two control design methods that are H∞ optimization and the fixed-structure control system tuning are used to obtain the linear controller for identified linearized transfer function of quadcopter vertical translation dynamics. The problem of a balance of requirements to the load sensitivity function and the noise sensitivity function H∞ norms taking into account the stability margins radius is considered. The results of experimental flights with several obtained controllers are presented.

Библиографическая ссылка: 

Александров В.А., Резков И.Г., Шатов Д.В., Честнов В.Н. Discrete-time H∞ optimization for quadcopter altitude control / Proceedings of the 29th Mediterranean Conference on Control and Automation (MED'2021, Puglia, Italy). Puglia, Italy: IEEE Xplore digital library, 2021. С. 126-131.