Control robusto de la actitud de un multirrotor empleando una arquitectura de control en cascada con prealimentación
-
1
Universidad de La Rioja
info
- Ramón Costa Castelló (coord.)
- Manuel Gil Ortega (coord.)
- Óscar Reinoso García (coord.)
- Luis Enrique Montano Gella (coord.)
- Carlos Vilas Fernández (coord.)
- Elisabet Estévez Estévez (coord.)
- Eduardo Rocón de Lima (coord.)
- David Muñoz de la Peña Sequedo (coord.)
- José Manuel Andújar Márquez (coord.)
- Luis Payá Castelló (coord.)
- Alejandro Mosteo Chagoyen (coord.)
- Raúl Marín Prades (coord.)
- Vanesa Loureiro-Vázquez (coord.)
- Pedro Jesús Cabrera Santana (coord.)
Publisher: Servizo de Publicacións ; Universidade da Coruña
ISBN: 9788497498609
Year of publication: 2023
Pages: 352-357
Congress: Jornadas de Automática (44. 2023. Zaragoza)
Type: Conference paper
Abstract
This paper deals with the robust attitude control of a multirotor UAV. The main novelty is the use of a cascaded model-matching control structure that includes a reference feedforward controller along with the two angle and velocity feedback controllers. As a result of the control structure and appropriate frequency feedback sharing between the feedback loops, the bandwidth of the controllers is reduced to achieve a control solution that introduces less measurement noise into the control action. The control designs are robust and performed in the discrete frequency domain according to the postulates of Quantitative Feedback Theory, with explicit consideration of stability, torque disturbance rejection, and angular reference tracking specifications.