DOI QR코드

DOI QR Code

3 자유도 비행체 시스템의 이벤트 트리거 기반의 H2 자세 제어기 설계

Event-Triggered H2 Attitude Controller Design for 3 DOF Hover Systems

  • 투고 : 2020.05.15
  • 심사 : 2020.06.08
  • 발행 : 2020.06.30

초록

This paper is concerned with the H2 attitude controller design for 3 degree of freedom (DOF) Hover systems with an event-triggered mechanism. The 3 DOF Hover system is an embedded platform for unmanned aerial vehicle (UAV) provided by Quanser. The mathematical model of this system is obtained by a linearization around operating points and it is represented as a linear parameter-varying (LPV) model. To save communication network resources, the event-triggered mechanism (ETM) is considered and the performance of the system is guaranteed by the H2 controller. The stabilization condition is obtained by using Lyapunov-Krasovskii functionals (LKFs) and some useful lemmas. The effectiveness of the proposed method is shown by simulation and experimental results.

키워드

참고문헌

  1. H. Yang, B. Jiang, K. Zhang. "Direct Self-repairing Control for Quadrotor Helicopter Attitude Systems," Mathematical Problems in Engineering, 2014.
  2. A. Jaimes, S. Kota, J. Gomez, "An Approach to Surveillance an Area Using Swarm of Fixed Wing and Quad-rotor Unmanned Aerial Vehicles UAV(s)," 2018 IEEE International Conference on System of Systems Engineering, 2008.
  3. Junghwan Kim, Shik Kim, “Autonomous-flight Drone Algorithm use Computer Vision and GPS,” IEMEK J. Embed. Sys. Appl., Vol. 11, No. 3, pp. 193-200, 2016. https://doi.org/10.14372/IEMEK.2016.11.3.193
  4. Byung-Rak Son, Chang-Seup Han, Hyun Lee, Dong-Ha Lee, “An Obstacle Avoidance Technique of Quadrotor Using Immune Algorithm,” IEMEK J. Embed. Sys. Appl., Vol. 9, No. 5, pp. 269-276, 2014. https://doi.org/10.14372/IEMEK.2014.9.5.269
  5. A. Prach, E. Kayacan, D. S. Bernstein, "An Experimental Evaluation of the Forward Propagating Riccati Equation to Nonlinear Control of the Quanser 3 DOF Hover Testbed," 2016 American Control Conference (ACC), 2016.
  6. M. Kahouadji, M. Mokhtari, A. Choukchou-Braham, B. Cherki, "Real-time Attitude Control of 3 DOF Quadrotor UAV Using Modified Super Twisting algorithm," Journal of the Franklin Institute, Vol. 357, No. 5, pp. 2681-2695, 2020. https://doi.org/10.1016/j.jfranklin.2019.11.038
  7. D. Nesic, A. R. Teel, P. V. Kokotovic, "Sufficient Conditions for Stabilization of Sampled-data Nonlinear Systems Via Discrete-time Approximations," Systems & Control Letters, Vol. 38, No. 4-5, pp. 259-270, 1999. https://doi.org/10.1016/S0167-6911(99)00073-0
  8. K. Liu, E. Fridman, "Wirtinger's Inequality and Lyapunov-based Sampled-data Stabilization," Automatica, Vol. 48, No. 1, pp. 102-108, 2012. https://doi.org/10.1016/j.automatica.2011.09.029
  9. G. S. Deaecto, P. Bolzern, L. Galbusera, J. C. Geromel, "$H_2$ and $H{\infty}$ Control of Time-varying Delay Switched Linear Systems with Application to Sampled-data Control," Nonlinear Analysis: Hybrid Systems, Vol. 22, pp. 43-54, 2016. https://doi.org/10.1016/j.nahs.2016.03.002
  10. G. Leen, D. Heffernan, "TTCAN: A New Time-triggered Controller Area Network," Microprocessors and Microsystems, Vol. 26, No. 2, pp. 77-94, 2002. https://doi.org/10.1016/S0141-9331(01)00148-X
  11. D. Yue, E. Tian, Q. Han, "A Delay System Method for Designing Event-Triggered Controllers of Networked Control Systems," IEEE Transactions on Automatic Control, Vol. 58, No. 2, pp. 475-481, 2013. https://doi.org/10.1109/TAC.2012.2206694
  12. G. Keqin, J. Chen, V. L. Kharitonov, "Stability of Time-delay Systems," Springer Science & Business Media, 2003.
  13. C. Peng, M. R. Fei, "An Improved Result on the Stability of Uncertain T-S Fuzzy Systems with Interval Time-varying Delay," Fuzzy Sets and Systems, Vol. 212 pp. 97-109, 2013. https://doi.org/10.1016/j.fss.2012.06.009
  14. 3-DOF Hover Reference Manual, Quanser Consulting Inc.