This paper presents and compares approaches to the design of flight controllers for quadrotor helicopters based on Linear Parameter-Varying (LPV) decoupling techniques. It is shown that parameter-varying decoupling makes it possible to use SISO LTI control design to address all degrees of motion freedom subject to high-speed maneuvers that require large pitch and roll angles. Specifically a decoupling method based on local linearizations (gain-scheduling decoupling) is compared to a global scheduling-dependent decoupling method inspired by computed-torque control, where the scheduling is based on the tilt angels of the drone. Based on an extensive simulation study, it is demonstrated that such a relatively simple control architecture can achieve significantly better performance than LTI control. Conceptually, the presented techniques can be used for the design of control schemes for aircraft and missiles.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Comparison of parameter-varying decoupling based control schemes for a quadrotor


    Beteiligte:

    Erscheinungsdatum :

    2018-11-23


    Anmerkungen:

    van de Wiel , T T R , Tóth , R & Kiriouchine , V I 2018 , ' Comparison of parameter-varying decoupling based control schemes for a quadrotor ' , IFAC-PapersOnLine , vol. 51 , no. 26 , pp. 55-61 . https://doi.org/10.1016/j.ifacol.2018.11.168



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    A Novel Parameter Varying Controller Synthesis Method for Quadrotor Control

    Niel, Fabien / Ameho, Yann / Biannic, JeanMarc et al. | AIAA | 2013



    A Novel Parameter Varying Controller Synthesis Method for Quadrotor Control (AIAA 2013-4534)

    Niel, F. / Ameho, Y. / Biannic, J. et al. | British Library Conference Proceedings | 2013



    Digital passive attitude and altitude control schemes for quadrotor aircraft

    Kottenstette, Nicholas / Porter, Joseph | Tema Archiv | 2009