A new observer based Robust output feedback Controller on Coaxial Tri-copter

Salma Salimi, Farzad Hashemzadeh, Sohrab Khanmohamadi, Mahdi Baradarannia

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

This paper presents the implementation of two robust nonlinear filters to minimize the effects of external disturbances. For this purpose, a Multi-copter named Coaxial Tri-copter is chosen, which has three rotors installed on each axis. For reference trajectory tracking, an output controller named 'consecutive compensator' is designed by decomposing the mathematical model on static MIMO transformation and some SISO channels. After obtaining the lift forces by these sequences, nonlinear Hfilter and Extended Kalman Filter (EKF) are applied to Tri-copter's system in order to achieve robustness against external disturbances. Finally, the effectiveness of the proposed control algorithm and nonlinear robust filters are verified by numerical simulations.

Original languageEnglish
Title of host publicationICEE 2019 - 27th Iranian Conference on Electrical Engineering
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages962-967
Number of pages6
ISBN (Electronic)9781728115085
DOIs
Publication statusPublished - Apr 2019
Externally publishedYes
Event27th Iranian Conference on Electrical Engineering, ICEE 2019 - Yazd, Iran, Islamic Republic of
Duration: 30 Apr 20192 May 2019

Publication series

NameICEE 2019 - 27th Iranian Conference on Electrical Engineering

Conference

Conference27th Iranian Conference on Electrical Engineering, ICEE 2019
Country/TerritoryIran, Islamic Republic of
CityYazd
Period30/04/192/05/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

  • EKF
  • Nonlinear H∞ Filter
  • Robust control
  • Tri-Copter

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