Title :
Optimal control of quad-rotor helicopter using state feedback LPV method
Author :
Serirojanakul, Apichart ; Wongsaisuwan, Manop
Author_Institution :
Dept. of Electr. Eng., Chulalongkorn Univ., Bangkok, Thailand
Abstract :
In this paper, the control of a quad-rotor helicopter is considered. The nonlinear model of the quad-rotor is transformed to a linear model subject to time-varying parameters called linear parameter-varying (LPV) systems. Then, the composite quadratic Lyapunov function and the quadratic cost function are used to find the optimal state feedback gain. To obtain the optimal solution, the LPV control problem is cast to the semi-definite programing problem with a set of Linear Matrix Inequality (LMI) constraints. The simulation results are provided to demonstrate the effectiveness of the proposed method.
Keywords :
Lyapunov methods; aircraft control; autonomous aerial vehicles; costing; linear matrix inequalities; linear systems; mathematical programming; nonlinear control systems; optimal control; rotors; state feedback; time-varying systems; LMI; LPV control problem; composite quadratic Lyapunov function; linear matrix inequality constraints; linear parameter-varying systems; optimal control; optimal state feedback gain; quad-rotor helicopter; quad-rotor nonlinear model; quadratic cost function; semidefinite programing problem; state feedback LPV method; time-varying parameters; unmanned aerial vehicle; Gold; Composite quadratic Lyapunov function; LMI; LPV systems; quad-rotor UAV;
Conference_Titel :
Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON), 2012 9th International Conference on
Conference_Location :
Phetchaburi
Print_ISBN :
978-1-4673-2026-9
DOI :
10.1109/ECTICon.2012.6254219
