Abstract.

The problem of H∞− parameterization of stabilizing controllers for one class of nonholonomic systems is considered. It includes the flight control systems of a quadrotor with a certain structure, consisting of inner contours for stabilizing the module of the quadrotor velocity vector and outer contours for control of this vector direction. Therefore, it is proposed to apply the two-stage procedure of H∞− parameterization of stabilizing controllers to each inner contour at the 1st stage and then to each outer contour at the 2nd stage. Simulation of quadrotor planar circular reference track following in the calm and disturbed atmosphere proves the viability of obtained results.

Keywords:

nonholonomic systems, quadrotor fight control, parameterization of stabilizing controllers, static output feedback, L2 − gain restriction.