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

fYear

2012

fDate

16-18 May 2012

Firstpage

1

Lastpage

4

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ECTICon.2012.6254219

Filename

6254219