H-INFINITY CONTROL FOR PITCH-ROLL AR.DRONE

Prayitno, Agung and Indrawati, Veronica and Arron, Clark (2016) H-INFINITY CONTROL FOR PITCH-ROLL AR.DRONE. TELKOMNIKA Indonesian Journal of Electrical Engineering, 14 (3). pp. 963-973. ISSN 1693-6930

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Official URL: http://journal.uad.ac.id/index.php/TELKOMNIKA/issu...

Abstract

This paper describes the design and implementation of H-infinity controller applied to the AR.Drone to follow a given trajectory. The trajectory will be achieved by using two control signals, pitch and roll. Pitch and roll of the AR.Drone models are obtained by assuming that the transfer function of internal control for pitch and roll is the second order system. Two schemes of H-infinity controller designed for pitch and roll. H-infinity control for x-position has exogenous input of the x-reference, xref, control input of pitch value, exogenous output in the form of x-position and process output as error x. While H-infinity control for y-position has exogenous input of y-reference, yref, control input in the form of roll value, exogenous output of y-position and process output as error y. The results of simulation and implementation show that drone can follow multiple references of trajectories given.

Item Type: Article
Uncontrolled Keywords: AR.Drone control, H-infinity controller, pitch control, roll control
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering > Department of Electrical Engineering
Depositing User: Agung Prayitno 204037
Date Deposited: 10 Oct 2016 07:34
Last Modified: 10 Oct 2016 07:35
URI: http://repository.ubaya.ac.id/id/eprint/28491

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