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.
LMI-based Synthesis of Quadrotor Guidance and Control System
2019-10-01
824285 byte
Conference paper
Electronic Resource
English
Quaternion guidance and control of quadrotor
IEEE | 2017
|Application of guidance laws to quadrotor landing
IEEE | 2015
|Quadrotor Intersection Management Guidance Using Single Beacon
TIBKAT | 2022
|