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 (SCI-Expanded) identifier 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 (SCI-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
  • Middle East Technical University Affiliated: Yes

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.