H-INFINITY Control for Pitch-Roll AR.DRONE
Abstract: This paper describes
the design and implementation of H-infinity controller applied to the AR.Drone
to follow a given trajectory. The trajectory will be achieved by using two
control signals, pitch and roll. Pitch and roll of the AR.Drone models are
obtained by assuming that the transfer function of internal control for pitch
and roll is the second order system. Two schemes of H-infinity controller
designed for pitch and roll. H-infinity control for x-position has exogenous
input of the x-reference, xref, control input of pitch value, exogenous output
in the form of x-position and process output as error x. While H-infinity control
for y-position has exogenous input of y-reference, yref, control input in the
form of roll value, exogenous output of y-position and process output as error
y. The results of simulation and implementation show that drone can follow
multiple references of trajectories given.
Author: Agung Prayitno
Journal Code: jptkomputergg160161
