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

Salma Salimi; Farzad Hashemzadeh; Sohrab Khanmohamadi; Mahdi Baradarannia

doi:10.1109/IranianCEE.2019.8786496

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

Salma Salimi, Farzad Hashemzadeh, Sohrab Khanmohamadi, Mahdi Baradarannia

University of Tabriz

Araştırma sonucu: ???type-name??? › Konferans katkısı › bilirkişi

1 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	ICEE 2019 - 27th Iranian Conference on Electrical Engineering
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
Sayfalar	962-967
Sayfa sayısı	6
ISBN (Elektronik)	9781728115085
DOI'lar	https://doi.org/10.1109/IranianCEE.2019.8786496
Yayın durumu	Yayınlandı - Nis 2019
Harici olarak yayınlandı	Evet
Etkinlik	27th Iranian Conference on Electrical Engineering, ICEE 2019 - Yazd, Iran, Islamic Republic of Süre: 30 Nis 2019 → 2 May 2019

Yayın serisi

Adı	ICEE 2019 - 27th Iranian Conference on Electrical Engineering

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	27th Iranian Conference on Electrical Engineering, ICEE 2019
Ülke/Bölge	Iran, Islamic Republic of
Şehir	Yazd
Periyot	30/04/19 → 2/05/19

Bibliyografik not

Publisher Copyright:
© 2019 IEEE.

Belgeye Erişim

10.1109/IranianCEE.2019.8786496

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

Salimi, S., Hashemzadeh, F., Khanmohamadi, S., & Baradarannia, M. (2019). A new observer based Robust output feedback Controller on Coaxial Tri-copter. In ICEE 2019 - 27th Iranian Conference on Electrical Engineering (pp. 962-967). Makale 8786496 (ICEE 2019 - 27th Iranian Conference on Electrical Engineering). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IranianCEE.2019.8786496

@inproceedings{f65434566caa4b7a9a483c91d8db07da,

title = "A new observer based Robust output feedback Controller on Coaxial Tri-copter",

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.",

keywords = "EKF, Nonlinear H∞ Filter, Robust control, Tri-Copter",

author = "Salma Salimi and Farzad Hashemzadeh and Sohrab Khanmohamadi and Mahdi Baradarannia",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 27th Iranian Conference on Electrical Engineering, ICEE 2019 ; Conference date: 30-04-2019 Through 02-05-2019",

year = "2019",

month = apr,

doi = "10.1109/IranianCEE.2019.8786496",

language = "English",

series = "ICEE 2019 - 27th Iranian Conference on Electrical Engineering",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "ICEE 2019 - 27th Iranian Conference on Electrical Engineering",

address = "United States",

}

Salimi, S, Hashemzadeh, F, Khanmohamadi, S & Baradarannia, M 2019, A new observer based Robust output feedback Controller on Coaxial Tri-copter. in ICEE 2019 - 27th Iranian Conference on Electrical Engineering., 8786496, ICEE 2019 - 27th Iranian Conference on Electrical Engineering, Institute of Electrical and Electronics Engineers Inc., pp. 962-967, 27th Iranian Conference on Electrical Engineering, ICEE 2019, Yazd, Iran, Islamic Republic of, 30/04/19. https://doi.org/10.1109/IranianCEE.2019.8786496

A new observer based Robust output feedback Controller on Coaxial Tri-copter. / Salimi, Salma; Hashemzadeh, Farzad; Khanmohamadi, Sohrab et al.
ICEE 2019 - 27th Iranian Conference on Electrical Engineering. Institute of Electrical and Electronics Engineers Inc., 2019. p. 962-967 8786496 (ICEE 2019 - 27th Iranian Conference on Electrical Engineering).

Araştırma sonucu: ???type-name??? › Konferans katkısı › bilirkişi

TY - GEN

T1 - A new observer based Robust output feedback Controller on Coaxial Tri-copter

AU - Salimi, Salma

AU - Hashemzadeh, Farzad

AU - Khanmohamadi, Sohrab

AU - Baradarannia, Mahdi

PY - 2019/4

Y1 - 2019/4

N2 - 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.

AB - 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.

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KW - Nonlinear H∞ Filter

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KW - Tri-Copter

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T3 - ICEE 2019 - 27th Iranian Conference on Electrical Engineering

SP - 962

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BT - ICEE 2019 - 27th Iranian Conference on Electrical Engineering

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Salimi S, Hashemzadeh F, Khanmohamadi S, Baradarannia M. A new observer based Robust output feedback Controller on Coaxial Tri-copter. In ICEE 2019 - 27th Iranian Conference on Electrical Engineering. Institute of Electrical and Electronics Engineers Inc. 2019. p. 962-967. 8786496. (ICEE 2019 - 27th Iranian Conference on Electrical Engineering). doi: 10.1109/IranianCEE.2019.8786496

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

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Bibliyografik not

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