2-DOF H∞Output Feedback Control of Quadrotor Subject to Parametric Uncertainties and Time Delay

Azmat Saeed; Aamer I. Bhatti; Fahad M. Malik

doi:10.1109/RAEECS56511.2022.9954545

2-DOF H_∞Output Feedback Control of Quadrotor Subject to Parametric Uncertainties and Time Delay

Azmat Saeed
, Aamer I. Bhatti
, Fahad M. Malik

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This article presents the problem of position tracking control of quadrotor subject to parametric uncertainties, time delay, and external disturbances, which cause performance degradation and instability in the quadrotor control system. Two degree-of-freedom (DOF) H∞ control scheme is designed for the 6-DOF model of quadrotor. Parametric uncertainty and time delay are lumped into a single complex multiplicative perturbation. Multiplicative weights, which are rational transfer functions, are determined using frequency domain approach. Robustness and performance are demonstrated by numerical simulations. The simulation's results indicate effective tracking and disturbance rejection.

Original language	English
Title of host publication	2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022
Editors	Sufi Tabassum Gul, Tauseef Jamal, Shahzad Nadeem
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665491020
DOIs	https://doi.org/10.1109/RAEECS56511.2022.9954545
State	Published - 2022
Externally published	Yes
Event	2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022 - Islamabad, Pakistan Duration: 18 Oct 2022 → 20 Oct 2022

Publication series

Name	2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022

Conference

Conference	2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022
Country/Territory	Pakistan
City	Islamabad
Period	18/10/22 → 20/10/22

Bibliographical note

Publisher Copyright:
© 2022 IEEE.

Keywords

2-DOF H∞ control
robust performance
robust stability

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Electrical and Electronic Engineering
Control and Optimization
Modeling and Simulation

Access to Document

10.1109/RAEECS56511.2022.9954545

Cite this

Saeed, A., Bhatti, A. I., & Malik, F. M. (2022). 2-DOF H_∞Output Feedback Control of Quadrotor Subject to Parametric Uncertainties and Time Delay. In S. T. Gul, T. Jamal, & S. Nadeem (Eds.), 2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022 (2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RAEECS56511.2022.9954545

Saeed, Azmat ; Bhatti, Aamer I. ; Malik, Fahad M. / 2-DOF H_∞Output Feedback Control of Quadrotor Subject to Parametric Uncertainties and Time Delay. 2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022. editor / Sufi Tabassum Gul ; Tauseef Jamal ; Shahzad Nadeem. Institute of Electrical and Electronics Engineers Inc., 2022. (2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022).

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abstract = "This article presents the problem of position tracking control of quadrotor subject to parametric uncertainties, time delay, and external disturbances, which cause performance degradation and instability in the quadrotor control system. Two degree-of-freedom (DOF) H∞ control scheme is designed for the 6-DOF model of quadrotor. Parametric uncertainty and time delay are lumped into a single complex multiplicative perturbation. Multiplicative weights, which are rational transfer functions, are determined using frequency domain approach. Robustness and performance are demonstrated by numerical simulations. The simulation's results indicate effective tracking and disturbance rejection.",

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series = "2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022",

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Saeed, A, Bhatti, AI & Malik, FM 2022, 2-DOF H_∞Output Feedback Control of Quadrotor Subject to Parametric Uncertainties and Time Delay. in ST Gul, T Jamal & S Nadeem (eds), 2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022. 2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022, Institute of Electrical and Electronics Engineers Inc., 2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022, Islamabad, Pakistan, 18/10/22. https://doi.org/10.1109/RAEECS56511.2022.9954545

2-DOF H_∞Output Feedback Control of Quadrotor Subject to Parametric Uncertainties and Time Delay. / Saeed, Azmat; Bhatti, Aamer I.; Malik, Fahad M.
2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022. ed. / Sufi Tabassum Gul; Tauseef Jamal; Shahzad Nadeem. Institute of Electrical and Electronics Engineers Inc., 2022. (2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This article presents the problem of position tracking control of quadrotor subject to parametric uncertainties, time delay, and external disturbances, which cause performance degradation and instability in the quadrotor control system. Two degree-of-freedom (DOF) H∞ control scheme is designed for the 6-DOF model of quadrotor. Parametric uncertainty and time delay are lumped into a single complex multiplicative perturbation. Multiplicative weights, which are rational transfer functions, are determined using frequency domain approach. Robustness and performance are demonstrated by numerical simulations. The simulation's results indicate effective tracking and disturbance rejection.

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Saeed A, Bhatti AI, Malik FM. 2-DOF H_∞Output Feedback Control of Quadrotor Subject to Parametric Uncertainties and Time Delay. In Gul ST, Jamal T, Nadeem S, editors, 2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022. Institute of Electrical and Electronics Engineers Inc. 2022. (2022 International Conference on Recent Advances in Electrical Engineering and Computer Sciences, RAEE and CS 2022). doi: 10.1109/RAEECS56511.2022.9954545