Determining allowable parametric uncertainty in an uncommon quadrotor model for closed loop stability

IF 1.2 4区计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE

Turkish Journal of Electrical Engineering and Computer Sciences Pub Date : 2021-01-01 DOI:10.3906/elk-2105-142

M. Baskin, Mehmet Kemal Lebleb, Lu

引用次数: 0

Abstract

Version: 21.03.2022 Abstract: In this article, control oriented uncertainty modeling of an uncommon quadrotor in hover is discussed. This quadrotor consists of two counter-rotating big rotors on longitudinal axis and two counter-rotating small tilt rotors on lateral axis. Firstly, approximate linear model of this vehicle around hover is obtained by using Newton–Euler formulation. Secondly, specific uncertainty is assigned to each parameter. Resulting uncertain model is converted into a linear fractional transformation framework for robustness analysis. Next, the most critical uncertain parameters in terms of robust stability in a proposed quadrotor model are investigated using µ sensitivities. Finally, skewed- µ analysis determines maximum possible uncertainty bounds for model parameters that are diﬀicult to

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确定一种不常见的四旋翼闭环稳定模型的允许参数不确定性

摘要:本文讨论了一种罕见的悬停四旋翼飞行器面向控制的不确定性建模问题。该四旋翼由纵向上两个反向旋转的大旋翼和横向上两个反向旋转的小倾斜旋翼组成。首先，利用牛顿-欧拉公式建立了该飞行器悬停时的近似线性模型。其次，为每个参数分配特定的不确定度。将得到的不确定模型转化为线性分数变换框架进行鲁棒性分析。接下来，在提出的四旋翼模型鲁棒稳定性方面的最关键的不确定参数使用微灵敏度进行了研究。最后，偏斜分析确定了模型参数的最大可能不确定性界限

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Turkish Journal of Electrical Engineering and Computer Sciences COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE-ENGINEERING, ELECTRICAL & ELECTRONIC

CiteScore

2.90

自引率

9.10%

发文量

审稿时长

6.9 months

期刊介绍： The Turkish Journal of Electrical Engineering & Computer Sciences is published electronically 6 times a year by the Scientific and Technological Research Council of Turkey (TÜBİTAK) Accepts English-language manuscripts in the areas of power and energy, environmental sustainability and energy efficiency, electronics, industry applications, control systems, information and systems, applied electromagnetics, communications, signal and image processing, tomographic image reconstruction, face recognition, biometrics, speech processing, video processing and analysis, object recognition, classification, feature extraction, parallel and distributed computing, cognitive systems, interaction, robotics, digital libraries and content, personalized healthcare, ICT for mobility, sensors, and artificial intelligence. Contribution is open to researchers of all nationalities.