2025/09/30 by Tanay Kumar, Kumar, Tanay, Raktim Bhattacharya +1
Engineering · #Adaptive Control of Nonlinear Systems #Advanced Control Systems Optimization #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Robotics (cs.RO) #Stability and Control of Uncertain Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2510.00208
openalex publication_date 2025/09/30 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/30
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of H_∞ and classical PID controllers for multi-rotor attitude regulation in the presence of wind disturbances and gyroscope noise. The flight dynamics are modeled using a linear parameter-varying (LPV) framework, where nonlinearities and parameter variations are systematically represented as structured uncertainties within a linear fractional transformation formulation. A robust controller based on H_∞ formulation is designed using only gyroscope measurements to ensure guaranteed performance bounds. Nonlinear simulation results demonstrate the effectiveness of the robust controllers compared to classical PID control, showing significant improvement in attitude regulation under severe wind disturbances.