{"title":"确定一种不常见的四旋翼闭环稳定模型的允许参数不确定性","authors":"M. Baskin, Mehmet Kemal Lebleb, Lu","doi":"10.3906/elk-2105-142","DOIUrl":null,"url":null,"abstract":"Version: 21.03.2022 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 µ sensitivities. Finally, skewed- µ analysis determines maximum possible uncertainty bounds for model parameters that are difficult to","PeriodicalId":49410,"journal":{"name":"Turkish Journal of Electrical Engineering and Computer Sciences","volume":null,"pages":null},"PeriodicalIF":1.2000,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Determining allowable parametric uncertainty in an uncommon quadrotor model for closed loop stability\",\"authors\":\"M. Baskin, Mehmet Kemal Lebleb, Lu\",\"doi\":\"10.3906/elk-2105-142\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Version: 21.03.2022 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 µ sensitivities. Finally, skewed- µ analysis determines maximum possible uncertainty bounds for model parameters that are difficult to\",\"PeriodicalId\":49410,\"journal\":{\"name\":\"Turkish Journal of Electrical Engineering and Computer Sciences\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.2000,\"publicationDate\":\"2021-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Turkish Journal of Electrical Engineering and Computer Sciences\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.3906/elk-2105-142\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Turkish Journal of Electrical Engineering and Computer Sciences","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.3906/elk-2105-142","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE","Score":null,"Total":0}
Determining allowable parametric uncertainty in an uncommon quadrotor model for closed loop stability
Version: 21.03.2022 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 µ sensitivities. Finally, skewed- µ analysis determines maximum possible uncertainty bounds for model parameters that are difficult to
期刊介绍：
The Turkish Journal of Electrical Engineering & Computer Sciences is published electronically 6 times a year by the Scientific and Technological Research Council of Turkey (TÜBİTAK)
Accepts English-language manuscripts in the areas of power and energy, environmental sustainability and energy efficiency, electronics, industry applications, control systems, information and systems, applied electromagnetics, communications, signal and image processing, tomographic image reconstruction, face recognition, biometrics, speech processing, video processing and analysis, object recognition, classification, feature extraction, parallel and distributed computing, cognitive systems, interaction, robotics, digital libraries and content, personalized healthcare, ICT for mobility, sensors, and artificial intelligence.
Contribution is open to researchers of all nationalities.
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