•  
  •  
 

Turkish Journal of Electrical Engineering and Computer Sciences

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.

DOI

10.55730/1300-0632.3806

Keywords

Parameter uncertainty, sensitivity analysis, quadrotor, structured singular value, unmanned aerial vehicle

First Page

695

Last Page

712

Plum Print visual indicator of research metrics
PlumX Metrics
  • Citations
    • Citation Indexes: 2
  • Usage
    • Abstract Views: 437
    • Downloads: 126
  • Captures
    • Readers: 1
see details

Share

COinS