SYNTHRSIS OF QUADROTOR ROBUST GUIDANCE AND CONTROL SYSTEM VIA PARAMETERIZATION OF ALL STABILIZING Н-INFINITY STATE-FEEDBACK GAINS
DOI:
https://doi.org/10.18372/1990-5548.62.14379Keywords:
Quadrotor, guidance, linear matrix inequality approach, Riccati equation, robust control system, state-feedback gain, output feedbackAbstract
The main purpose of the research is to develop the quadrotor robust control system adapted to the rejection of external disturbances. The methodology of control system synthesis is based on the parameterization of all stabilizing H-infinity static state feedback gains with applications to output feedback design. The main feature of the article is the development of the above-mentioned method relative to the quadrotor. The main results of the article are synthesized control laws and simulation of the closed-loop dynamics. The basic practical implication is the usage of synthesized control laws in guidance of the quadrotor motion in path following of circular and linear-piecewise reference tracks. Originality and value of the article are caused by the necessity to improve the quality of control by quadrotor motion.
References
H. R. Jafari, M. Zareh, J. Roshanian, and A. Nikkhah, “An optimal guidance law applied to quadrotor using LQR method,” Transactions of the Japan Society for Aeronautical and Space Sciences, vol. 53, issue 179, pp. 32–39, 2010. https://doi.org/10.2322/tjsass.53.32
S. Bouabdallah, A. Noth, and R. Siegwart, “PID vs LQ control techniques applied to an indoor micro quadrotor,” Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept. 28 – Oct. 2, 2004, Sendai, Japan, pp. 2451–2456.
P. Castillo, R. Loo, and A. Dzul, “Stabilization of a mini rotorcraft with four rotors,” IEEE Control Systems Magazine, 2005 December, pp. 45–55. https://doi.org/10.1109/MCS.2005.1550152
V. B. Larin, and A. A. Tunik, “Synthesis of the quad-rotor control algorithms in the basic flight modes,” TWMS Journal of Pure and Applied Mathematics, vol. 9, no. 2, pp. 147–158, 2018.
V. B. Larin, A. A. Tunik, “On problem of synthesis of control system for quadrocopter,” International Applied Mechanics, vol. 53, no. 3, pp. 342–348, 2017. https://doi.org/10.1007/s10778-017-0816-4
T.-S. Tsay, “Guidance and control laws for quadrotor UAV,” WSEAS Transactions on Systems and Control, vol. 9, pp. 606–613, 2014.
Swee King Phang, Kun Li, Ben M. Chen, and Tong H. Lee, “Systematic design methodology and construction of micro aerial quadrotor vehicles,” in book: Handbook of Unmanned Aerial Vehicles. Kimon P. Valavanis and George J. Vachtsevanos, Springer Science+Business Media Dordrecht, 2015, pp. 182–206. https://doi.org/10.1007/978-90-481-9707-1_116
Swee King Phang, Chenxiao Cai, Ben M. Chen, and Tong Heng Lee, “Design and mathematical modeling of a 4-standard-propeller (4SP) quadrotor,” Proceedings of the 10th World Congress on Intelligent Control and Automation, Beijing, China, 2012, pp. 3270–3275. https://doi.org/10.1109/WCICA.2012.6358437
R. Beard, Quadrotor Dynamics and Control Rev 0.1, 2008. Available at: https://scholarsarchive.byu.edu/facpub/13252
R. C. Leishman, J. C. Macdonald, R. W. Beard, and T. W. McLain, “Quadrotors and accelerometers,” IEEE Control Systems Magazine, pp. 28–41, February 2014.
G. M. Hoffman, S. L. Waslander, and C. J. Tomlin, “Quadrotor helicopter trajectory tracking control,” AIAA Guidance, Navigation and Control Conference and Exhibition, 18-21 August 2008, Hawaii, Honolulu, pp. 1–14. https://doi.org/10.2514/6.2008-7410
D. V. Balandin and M. M. Kogan. “Synthesis of Linear Quadratic Control Laws on Basis of Linear Matrix Inequalities,” Automation and Remote Control, vol. 68, no. 3, pp. 371–385, 2007. https://doi.org/10.1134/S0005117907030010
S. Boyd, El Ghaoui, E. Feron, V. Balakrishnan, Linear Matrix Inequalities in System and Control Theory, Philadelphia: PA SIAM, 1994, 416 p. https://doi.org/10.1137/1.9781611970777
J. Gadewadikar, F. Lewis, M. Abu-Khalaf, “Necessary and sufficient conditions for H-infinity static output feedback control,” Journal of Guidance, Control and Dynamics, vol. 29, pp. 915–921, 2006. https://doi.org/10.2514/1.16794
V. B. Larin, А. Аl-Lawama, and A. A. Tunik, “Exogenous disturbance compensation with static output feedback,” Appl. & Comput. Math., vol. 3, no. 2, pp. 75–83, 2004.
J. Gadewadikar, F. Lewis, L. Xie, V. Kucera, and M. Abu-Khalaf, “Parameterization of all stabilizing H∞ static state-feedback gains: application to output-feedback design,” Automatica, vol. 43, pp. 1597–1604, 2007. https://doi.org/10.1109/CDC.2006. 377280
R. W. Beard, T. W. McLain, "Small Unmanned Aircraft. Theory and Practice, “Princeton University Press,” 2012, 300 p.
Downloads
Issue
Section
License
Authors who publish with this journal agree to the following terms:
Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
