NDLI: Position-heading quadrotor control using LPV techniques

Content Provider	IET Digital Library
Author	Trapiello, Carlos Puig, Vicenç Morcego, Bernardo
Abstract	This work presents a solution to the position-heading control problem of a small quadrotor. The main idea of this study is to exploit the advantages of the linear parameter varying (LPV) control approach together with a feedback linearisation approach for designing a cascade control structure without the need to perform simplifications with respect to the reference dynamic model used in the literature. The use of a LPV representation of the attitude subsystem allows to consider it as independent of the position one, allowing the use of a cascade control structure. For the inner attitude control loop, the proposed quasi-LPV–linear-quadratic regulator (LQR) controller and proportional–integral observer (PIO) are solved in an optimal manner by solving a set of linear matrix inequalities (LMIs). While for the outer position control loop, a feedback linearisation approach is developed before designing the corresponding controller and PIO also minimising the LQR problem by means of LMIs. Furthermore, another outer loop, interchangeable with the position one, such that controls the velocities in the body frame is proposed. This velocities controller is also solved in an optimal manner using a combination of feedback linearisation and LPV techniques. The proposed solutions are applied to an AscTec Hummingbird unmanned aerial vehicle in simulation.
Starting Page	783
Ending Page	794
Page Count	12
ISSN	17518644
Volume Number	13
e-ISSN	17518652
Issue Number	Issue 6, Apr (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/13/6
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.6147
Journal	IET Control Theory & Applications
Publisher Date	2019-02-04
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Acceleration Aerospace Control Algebra Attitude Control Attitude Subsystem Autonomous Aerial Vehicle Cascade Control Cascade Control Structure Control System Analysis Control System Synthesis Feedback Feedback Linearisation Approach Helicopters Hummingbird Unmanned Aerial Vehicle Inner Attitude Control Loop Linear Matrix Inequalities Linear Parameter Linear Quadratic Control Linear System Linearisation Technique LMI LPV Representation LPV Technique LQR Problem Mobile Robots Nonlinear Control System Observers Optimal Control Optimal Manner Outer Position Control Loop Position Control Position-heading Control Problem Position-heading Quadrotor Control Proportional–integral Observer Quasi-LPV–linear-quadratic Regulator Controller Reference Dynamic Model Remotely Operated Vehicle Rotation Control Spatial Variables Control Stability in Control Theory Synthesis Method Telerobotics Velocities Controller Velocity Velocity Control
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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