Research Article
Based on the Nonlinear State Equations of 6-DOF Robot with Application to Autonomous Flight
@INPROCEEDINGS{10.1007/978-3-031-70507-6_13, author={Zhou Hongcheng and Fang Yuzhuo}, title={Based on the Nonlinear State Equations of 6-DOF Robot with Application to Autonomous Flight}, proceedings={IoT as a Service. 9th EAI International Conference, IoTaaS 2023, Nanjing, China, October 27-29, 2023, Proceedings}, proceedings_a={IOTAAS}, year={2024}, month={10}, keywords={Linearization Non-fragile optimal Controller Nyquist Circle criterion}, doi={10.1007/978-3-031-70507-6_13} }- Zhou Hongcheng
Fang Yuzhuo
Year: 2024
Based on the Nonlinear State Equations of 6-DOF Robot with Application to Autonomous Flight
IOTAAS
Springer
DOI: 10.1007/978-3-031-70507-6_13
Abstract
The paper provides a linearized model of the quad rotor aircraft. Linearization is carried out around each state to optimize the system for larger flight envelopes. Each coupling term is represented by fixing and changing each time one state. Non-fragile optimal controller realization for the quad rotor aircraft is obtained by considering two different approaches for computation of controller fragility, stability radii comparison and weighted eigenvalue sensitivity calculation. A numerical method for reduction of controller fragility is presented. The simulation results show that the time delay compensation effect is well realized.
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