Controlador PID Robusto No Lineal H-Infinito para el Sistema Multivariable Quadrotor (Nonlinear Robust H-Infinity PID Controller for the Multivariable System Quadrotor)

Juan Paul Ortiz (jortizg@ups.edu.ec)1, Luis Ismael Minchala (ismael.minchala@ucuenca.edu.ec)2, Manuel Jeova Reinoso (manuelrja@hotmail.com)3


1Universidad Politecnica Salesiana
2Universidad de Cuenca
3Ask Solutions

This paper appears in: Revista IEEE América Latina

Publication Date: March 2016
Volume: 14,   Issue: 3 
ISSN: 1548-0992


Abstract:
This paper presents the methodology of design of a nonlinear robust 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 based on the Euler-Lagrange formalism are provided, as well as the particulars of the design of a nonlinear robust H-infinity PID controller to regulate the rotational moments. The performance and effectiveness of the proposed controller are tested in a simulation and an experimental platform. The performance of the proposed controller is compared with a conventional PID controller by using the integral square error (ISE) as performance parameter. Experimental results help to demonstrate the correct operation of the system for real-time applications in the presence of unmodeled dynamics and the uncertainties of the parameters.

Index Terms:
Nonlinear system, quadrotor, robust control, attitude regulation, UAV   


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