Comparison of Hinf Robust with mixed sensitivity and LQRy Robust with uncertainty in a quadcopter vehicle
DOI:
https://doi.org/10.52428/20758944.v21i57.1329Keywords:
LQRy, Hinf, Quadcopter, Automatic Control, Robust controlAbstract
In this article, a comparative study is presented between two controllers intended for the stabilization of a quadcopter. The two controllers under analysis are the Hinf Robust controller with mixed sensitivity and the LQRy Robust controller. Both controllers have been designed taking into account uncertainties of 10\% in the mass and inertias of the quadcopter plant. The primary objective of this research is to discern which of the two control techniques offers optimal performance in the stabilization of the quadcopter to ensure maximum flight stability. To address the challenge of stabilizing the quadcopter, both controllers are designed using the linearized model of this quadcopter. Therefore, given that the quadcopter has a MIMO (Multiple Inputs, Multiple Outputs) configuration and that its study becomes complicated by incorporating uncertainties diagonal in MIMO systems, a simplification was made to SISO (Single Input, Single Output), which facilitates the incorporation of diagonal uncertainties in the quadcopter model. The simulations have been conducted in the MATLAB environment, enabling an analysis of the responses of both controllers. The results obtained indicate that the LQRy controller exhibits superior performance compared to the Hinf controller in stabilizing the quadcopter. These findings suggest that the LQRy approach may be more effective in achieving stable flight under ideal simulation conditions.
Downloads
References
Brossard, J., Bensoussan, D., Landry, R. Jr., & Hammami, M. (2019). Robustness studies on quadrotor control. In Proceedings of the International Conference on Unmanned Aircraft Systems (pp. 344-352).
https://doi.org/10.1109/ICUAS.2019.8798198
Bouabdallah, S., & Siegwart, R. (2007). Full control of a quadrotor. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 153-158). IEEE. DOI: https://doi.org/10.1109/IROS.2007.4399042
Diego, L. M. (2015). Desarrollo de un autopiloto de un quadcopter (M.Sc. thesis). University of Zaragoza, Zaragoza, Spain.
Escamilla Núñez, R. (2010). Diseño, construcción, instrumentación y control de un vehículo aéreo no tripulado (UAV) (Undergraduate thesis). Instituto Politécnico Nacional, Lima, Peru.
Gonzalez, H., & Vargas, H. R. (2008). H∞ controller design for a variable wind speed turbine. In Proceedings of the 2008 IEEE/PES Transmission and Distribution Conference and Exposition: Latin America (pp. 1-7). IEEE. DOI: https://doi.org/10.1109/TDC-LA.2008.4641780
Irfan, A., Khan, M. G., & Mohsin, S. A. (2021). Quadcopter dynamic modeling and stability control design using hardware in loop. In Proceedings of the 2021 IEEE International Conference on Robotics, Automation, Artificial-Intelligence and Internet-of-Things (RAAICON) (pp. 56-59). IEEE. DOI: https://doi.org/10.1109/RAAICON54709.2021.9930035
Khadraoui, S., Fareh, R., Baziyad, M., & Bettayeb, M. (2024). A comprehensive review and applications of active disturbance rejection control for unmanned aerial vehicles. IEEE Access, Advance online publication, Article 185851-185868. DOI:
https://doi.org/10.1109/ACCESS.2024.3510557
Maaruf, M., Mahmoud, M. S., & Arif, A. M. (2022). A survey of control methods. International Journal of Robotics and Control Systems, 2(4), 652-665. DOI: https://doi.org/10.31763/ijrcs.v2i4.743
Madi, S., Larabi, M. S., & Kherief, N. M. (2023). Robust control of a quadcopter using PID and H∞ controller. Turkish Journal of Electromechanics and Energy, 8(1), 3-11. Retrieved from https://www.scienceliterature.com
Massé, C., Gougeon, O., Nguyen, D.-T., & Saussié, D. (2018). Modeling and control of a quadcopter flying in a wind field: A comparison between LQRy and structured H∞ control techniques. In International Conference on Unmanned Aircraft Systems (ICUAS) (pp. 1408-1417). DOI: https://doi.org/10.1109/ICUAS.2018.8453402
Montecinos Cortez, H. M. (2022). Implementação de novas funcionalidades no sistema PixHawk (Master's thesis). Instituto Tecnológico de Aeronáutica, São José dos Campos, Brazil.
Nasir, A. N. K., Ahmad, M. A., & Rahmat, M. F. (2008). Performance comparison between LQRy and PID controller for an inverted pendulum system. In Proceedings of the International Conference on Power Control and Optimization (pp. 18-20).
Ogata, K. (2010). Engenharia de Controle Moderno (7th ed.). [Publisher].
Paiva Peredo, E. (2016). Modelado y control de un cuadricóptero (Master's thesis). Universidad de Piura, Piura, Peru.
Pinheiro, E., & Souza, L. (2013). Design of the microsatellite attitude control system using the mixed method via LMI optimization. Mathematical Problems in Engineering, 2013, Article 257193. DOI: https://doi.org/10.1155/2013/257193
Peksa, J., & Mamchur, D. (2024). A review on the state of the art in copter drones and flight control systems. Sensors Journal, 2-42. DOI:
https://doi.org/10.3390/s24113349
PMid:38894139 PMCid:PMC11174836
Praveen, V., & Pillai, S. (2016). Modeling and simulation of quadcopter using PID controller. International Journal of Control Theory and Applications, 9(15), 7151-7158.
Priya, P., & Kamlu, S. S. (2022). Robust control algorithm for drones. In Aeronautics-New Advances. Intech Open. DOI: https://doi.org/10.5772/intechopen.105966
Samir, A., Hammad, A., Hafez, A., & Mansour, H. (2017). Title of the article. International Journal of Computer Applications, 168(9). DOI:
https://doi.org/10.5120/ijca2017914539
Smith, D., & Shehzad, M. U. (2016). A robust Hinf control for unmanned aerial vehicle against atmospheric turbulence. In 2nd International Conference on Robotics and Artificial Intelligence (ICRAI) (pp. 1-6). DOI: https://doi.org/10.1109/ICRAI.2016.7791234
Tomashevich, S. I., Borisov, O. I., & Gromov, V. S. (2017). Experimental study on robust output control for quadcopters. In Proceedings of the Mediterranean Conference on Control and Automation (pp. 1029-1034). DOI: https://doi.org/10.1109/MED.2017.7984253
Varghese, A. G., & Sreekala, D. (2019). Modeling and design of UAV with LQG and Hinf controllers. International Journal of Engineering Research & Technology, 8(5), 446-450.
Zenkin, A., Berman, I., Pachkouski, K., Pantiukhin, I., & Rzhevskiy, V. (2020). Quadcopter simulation model for research of monitoring tasks. In Proceedings of the 2020 26th Conference of Open Innovations Association (FRUCT) (pp. 449-457). DOI: https://doi.org/10.23919/FRUCT48808.2020.9087391
Published
How to Cite
Issue
Section
License
Copyright (c) 2025 Francisco Triveño Vargas
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License 4.0 that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work.
