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


Baskin M., LEBLEBİCİOĞLU M. K.

TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, vol.30, no.3, pp.695-712, 2022 (Peer-Reviewed Journal) identifier identifier

  • Publication Type: Article / Article
  • Volume: 30 Issue: 3
  • Publication Date: 2022
  • Doi Number: 10.3906/elk-2105-142
  • Journal Name: TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
  • Journal Indexes: Science Citation Index Expanded, Scopus, Academic Search Premier, Applied Science & Technology Source, Compendex, Computer & Applied Sciences, INSPEC, TR DİZİN (ULAKBİM)
  • Page Numbers: pp.695-712
  • Keywords: Parameter uncertainty, sensitivity analysis, quadrotor, structured singular value, unmanned aerial vehicle

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 mu sensitivities. Finally, skewed-mu analysis determines maximum possible uncertainty bounds for model parameters that are difficult to identify accurately.