The problem of quadrotor guidance and control system synthesis based on Linear Matrix Inequalities approach is considered in this paper. Extended quadrotor's mathematical model is proposed, which takes into account the inertia of its motors. Due to the additional state variable appeared in the quadrotor's mathematical model, which is not measured in practice, it became impossible to apply the linear quadratic regulator approach that is quite simple for practical implementation. The chosen Linear Matrix Inequalities approach produces control laws as static output feedback and guarantees H-infinity rejection of external disturbances. The synthesis of the quadrotor control system based on the parametrization of all stabilizing H-infinity static output feedback is presented. The transient processes for one of the quadrotor's axis motion control illustrate the efficiency of proposed control law. Taking into account the symmetry of quadrotor, the same static output feedback coefficients were used for another axis. The simulation results of the quadrotor guidance for the circular reference track following in a horizontal plane for the cases of calm and perturbed atmosphere confirmed that proposed control laws were appropriate.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    LMI-based Synthesis of Quadrotor Guidance and Control System


    Contributors:


    Publication date :

    2019-10-01


    Size :

    824285 byte



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Quaternion guidance and control of quadrotor

    Andersen, Tom Stian / Kristiansen, Raymond | IEEE | 2017


    Bifurcation-Based Quadrotor Guidance for Standoff Inspection

    Khandelwal, Ravi / Ratnoo, Ashwini | AIAA | 2025


    Quadrotor Guidance-Control for flight like nonholonomic vehicles

    BOUZID, Yasser / BESTAOUI, Yasmina / SIGUERDIDJANE, Houria et al. | IEEE | 2018


    Application of guidance laws to quadrotor landing

    Gautam, Alvika / Sujit, P.B. / Saripalli, Srikanth | IEEE | 2015


    Quadrotor Intersection Management Guidance Using Single Beacon

    Suresh, Shalini / Ratnoo, Ashwini | TIBKAT | 2022