Nonlinear Robust H-Infinity PID Controller for the Multivariable System Quadrotor


This paper presents the methodology of design of a nonlinear sturdy controller for attitude regulation and its implementation in an experimental platform of an unmanned aerial vehicle (UAV) quadrotor. Details on the kinematic and dynamic modeling primarily based on the Euler-Lagrange formalism are provided, yet because the particulars of the design of a nonlinear strong H-infinity PID controller to manage the rotational moments. The performance and effectiveness of the proposed controller are tested in a very simulation and an experimental platform. The performance of the proposed controller is compared with a conventional PID controller by using the integral sq. error (ISE) as performance parameter. Experimental results facilitate to demonstrate the proper operation of the system for real-time applications within the presence of unmodeled dynamics and therefore the uncertainties of the parameters.

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