A new observer based Robust output feedback Controller on Coaxial Tri-copter

Salimi S., Hashemzadeh F., Khanmohamadi S., Baradarannia M.

27th Iranian Conference on Electrical Engineering, ICEE 2019, Yazd, Iran, 30 April - 02 May 2019, pp.962-967 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/iraniancee.2019.8786496
  • City: Yazd
  • Country: Iran
  • Page Numbers: pp.962-967
  • Keywords: EKF, Nonlinear H∞ Filter, Robust control, Tri-Copter
  • Istanbul Technical University Affiliated: No


This paper presents the implementation of two robust nonlinear filters to minimize the effects of external disturbances. For this purpose, a Multi-copter named Coaxial Tri-copter is chosen, which has three rotors installed on each axis. For reference trajectory tracking, an output controller named 'consecutive compensator' is designed by decomposing the mathematical model on static MIMO transformation and some SISO channels. After obtaining the lift forces by these sequences, nonlinear H∞filter and Extended Kalman Filter (EKF) are applied to Tri-copter's system in order to achieve robustness against external disturbances. Finally, the effectiveness of the proposed control algorithm and nonlinear robust filters are verified by numerical simulations.