Quadrotor H∞ Control Simulator

H∞ control is a robust control algorithm arised in 1970s. It suppresses the maximum frequency response of the disturbance to ensure the robustness of the system. Mathematicians shows that the optimal control input can be obtained by solving the Algebraic Riccati Equation, which is strongly related to the Hamiltonian matrix.

This project provides a design example of using H∞ control to stablize the quadrotor. We also feature that the code is fully standalone without relying on other control toolbox.

Run simulation

execute quadrotor_sim.m

Code overview

quadrotor_sim.m: The main program of the simulation.

dynamics.m: The quadrotor dynamics model.

hinf_norm.m: The function for calculating H∞ norm.

rigidbody_visualize.m: The 3D animation for quadrotor visualization.

se3_math.m: Some math functions for calculating rotation matrix, quaternion and Euler angles.

care_sda.m: Structure-Preserving Doubling Algorithm (SDA), a numerical method for solving Algebraic Riccati Equation.

hinf_syn.m: A H∞ control solver based on the bisection method and SDA.

Publication

This work is published at the 2022 International Automatic Control Conference (CACS) with the title of Robust State-Feedback H∞ Control of Quadrotor, please feel free to cite the paper.

References

1. Geometric tracking control of a quadrotor UAV on SE(3)
2. Quadrotor control: modeling, nonlinear control design, and simulation
3. A Bisection Method for Computing the H∞ Norm of a Transfer Matrix and Related Problems
4. On the computation of the optimal H∞ norms for two feedback control problems
5. A structure-preserving doubling algorithm for continuous-time algebraic Riccati equations