This paper presents a novel approach for multirate sampled-data control of a fly-by-wireless quadrotor using three feedback loops: attitude control loop, velocity control loop, and position control loop. The proposed multiloop controller operates over a network of sensors. Each sensor corresponds to one of the control loops and is dedicated to sampling the attitude, the velocity, or the position of the quadrotor. The sensors operate at different sampling frequencies that are assumed to be lower bounded. The control signals in each loop are computed at different rates, which are dictated by the corresponding sensor of the control loop. Two formal results are proved. Given the controller gains, the first result provides sufficient conditions for finding the lowest allowable sampling frequency for each control loop such that stability of the closed-loop system is guaranteed. The second result provides a controller synthesis algorithm and sufficient conditions guaranteeing the stability of the closed-loop system. Simulation results show the effectiveness of the proposed multiloop controller when compared to the single-loop, single-rate case. In particular, the results show that increasing the sampling frequency of a control loop allows a designer to decrease the sampling frequency of the other control loops below the limit imposed by the single-rate case. Using the technique proposed in this paper, an engineer can thus select the proper combination of sampling frequencies for a specific application, based on the price, availability, performance, power requirements, weight, maintenance costs, and other characteristics of the sensors.


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    Title :

    Multiloop controller design for a fly-by-wireless UAV quadrotor based on a multirate sampled-data model


    Contributors:


    Publication date :

    2015-07-01


    Size :

    779426 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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