Convex control with H∞ performance of a hexarotor-UAV

https://doi.org/10.58571/CNCA.AMCA.2022.001

Resumen: This paper is dedicated to the modeling and control for a hexarotor-type unmanned aerial vehicle based in a convex rewrite that it is represents exactly the nonlinear model of the hexarotor. Then, the controller design is considered a parallel-distributed compensation control law to stabilitze of the vehicle and a H∞ performance criterion to aguratee robustness againts distrubances. The stability condition and robust performance are formulated using the function quadratic of Lyapunov where the sufficient conditions are given by a set of linear matrix inequalities. Finally, it is illustrated the numerical simulations of the proposed method through of the hexarotor.

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Ancheyta-López, H., Gomez-Peñate, S., , GasgaP. & López-Estrada, F. Convex control with H∞ performance of a hexarotor-UAV. Memorias del Congreso Nacional de Control Automático, pp. 91-96, 2022. https://doi.org/10.58571/CNCA.AMCA.2022.001

Palabras clave

Control Robusto; Control de Sistemas No Lineales; Tecnología para Control

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