Controllability and observability analysis of the gain scheduling based linearization for UAV quadrotor

Author

Ataka, Ahmad ; Tnunay, Hilton ; Inovan, Reka ; Abdurrohman, Muhammad ; Preastianto, Hanry ; Cahyadi, Adha Imam ; Yamamoto, Yusaku

Author_Institution

Gadjah Mada Univ., Yogyakarta, Indonesia

fYear

2013

fDate

25-27 Nov. 2013

Firstpage

212

Lastpage

218

Abstract

This paper presents the gain scheduling based linearization of simplified quadrotor non-linear model as well as the test for the system controllability and observability for various equilibrium point. The simplified non-linear model of quadrotor is linearized at some equilibrium points to get the linear state equation. Then, the controllability and observability test is done to the linearized model for various equilibrium points. The system behavior is then tested by using the state feedback controller to confirm the result.

Keywords

aircraft control; autonomous aerial vehicles; controllability; helicopters; linearisation techniques; mobile robots; nonlinear control systems; observability; state feedback; telerobotics; UAV quadrotor; controllability analysis; controllability test; equilibrium point; gain scheduling; linear state equation; linearization; observability analysis; observability test; simplified quadrotor non-linear model; state feedback controller; unmanned aerial vehicle; Erbium; LQR; Quadcopter; linearization gain scheduling; non-linear control system;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Biomimetics, and Intelligent Computational Systems (ROBIONETICS), 2013 IEEE International Conference on

Conference_Location

Jogjakarta

Print_ISBN

978-1-4799-1206-3

Type

conf

DOI

10.1109/ROBIONETICS.2013.6743606

Filename

6743606