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Determining allowable parametric uncertainty in an uncommon quadrotor model for closed loop stability
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elk-30-3-15-2105-142.pdf
Date
2022-01-01
Author
Baskin, Mehmet
Leblebicioğlu, Mehmet Kemal
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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.
Subject Keywords
Parameter uncertainty
,
sensitivity analysis
,
quadrotor
,
structured singular value
,
unmanned aerial vehicle
URI
https://hdl.handle.net/11511/96994
Journal
TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
DOI
https://doi.org/10.3906/elk-2105-142
Collections
Department of Electrical and Electronics Engineering, Article
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M. Baskin and M. K. Leblebicioğlu, “Determining allowable parametric uncertainty in an uncommon quadrotor model for closed loop stability,”
TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
, vol. 30, no. 3, pp. 695–712, 2022, Accessed: 00, 2022. [Online]. Available: https://hdl.handle.net/11511/96994.