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The paper provides a linearized model of the quad rotor aircraft. Linearization is carried out around each state to optimize the system for larger flight envelopes. Each coupling term is represented by fixing and changing each time one state. Non-fragile optimal controller realization for the quad rotor aircraft is obtained by considering two different approaches for computation of controller fragility, stability radii comparison and weighted eigenvalue sensitivity calculation. A numerical method for reduction of controller fragility is presented. The simulation results show that the time delay compensation effect is well realized.

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Based on the Nonlinear State Equations of 6-DOF Robot with Application to Autonomous Flight

  • 会议论文

  • 发表日期：

    2025年

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  • Zhou Hongcheng,
  • Fang Yuzhuo

摘要

The paper provides a linearized model of the quad rotor aircraft. Linearization is carried out around each state to optimize the system for larger flight envelopes. Each coupling term is represented by fixing and changing each time one state. Non-fragile optimal controller realization for the quad rotor aircraft is obtained by considering two different approaches for computation of controller fragility, stability radii comparison and weighted eigenvalue sensitivity calculation. A numerical method for reduction of controller fragility is presented. The simulation results show that the time delay compensation effect is well realized.