Title :
Linear Parameter Varying control of a quadrotor
Author :
Rangajeeva, Samarathunga L M D ; Whidborne, James F.
Author_Institution :
Dept. of Mech. & Manuf. Eng., Univ. of Ruhuna, Galle, Sri Lanka
Abstract :
This paper describes a Linear Parameter Varying (LPV) controller design for a quadrotor vehicle. The controller synthesis requires the LPV plant model which is obtained by linearisation of the modelling equations, to be in an affine form. However, the LPV representation of the quadrotor dynamic is not affine; hence it has been transformed into to a convex polytopic form using Tensor Product (TP) transformation. The H∞ self gain scheduling control method has been applied to obtain a LPV controller which is tested on a simplified nonlinear model of the quadrotor. The LPV controller performance was compared with a separate H∞ controller. The LPV controller exhibited significant close tracking capabilities with respect to the H∞ controller.
Keywords :
H∞ control; adaptive control; control system synthesis; helicopters; linearisation techniques; nonlinear control systems; H∞ controller; H∞ self gain scheduling control method; LPV plant model; afflne form; controller synthesis; linear parameter varying controller design; modelling equation linearisation; quadrotor dynamic; quadrotor vehicle; tensor product transformation; Jacobian matrices; Mathematical model; Rotors; Strontium; Tensile stress; Vehicle dynamics; Vehicles; Linear parameter varying; Quadrotor vehicle; Tensor product model transformation; self gain scheduled;
Conference_Titel :
Industrial and Information Systems (ICIIS), 2011 6th IEEE International Conference on
Conference_Location :
Kandy
Print_ISBN :
978-1-4577-0032-3
DOI :
10.1109/ICIINFS.2011.6038118
