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 H∞filter 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 language | English |
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Title of host publication | ICEE 2019 - 27th Iranian Conference on Electrical Engineering |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 962-967 |
Number of pages | 6 |
ISBN (Electronic) | 9781728115085 |
DOIs | |
Publication status | Published - Apr 2019 |
Externally published | Yes |
Event | 27th Iranian Conference on Electrical Engineering, ICEE 2019 - Yazd, Iran, Islamic Republic of Duration: 30 Apr 2019 → 2 May 2019 |
Publication series
Name | ICEE 2019 - 27th Iranian Conference on Electrical Engineering |
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Conference
Conference | 27th Iranian Conference on Electrical Engineering, ICEE 2019 |
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Country/Territory | Iran, Islamic Republic of |
City | Yazd |
Period | 30/04/19 → 2/05/19 |
Bibliographical note
Publisher Copyright:© 2019 IEEE.
Keywords
- EKF
- Nonlinear H∞ Filter
- Robust control
- Tri-Copter