Robust linear parameter varying attitude control of a quadrotor unmanned aerial vehicle with state constraints and input saturation subject to wind disturbance

2019 ◽  
Vol 42 (6) ◽  
pp. 1083-1096 ◽  
Author(s):  
Mohammad Reza Soltanpour ◽  
Farshad Hasanvand ◽  
Reza Hooshmand
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Input Saturation ◽  
Disturbance Attenuation ◽  
Linear Matrix ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Aerial Vehicle ◽  
Parameter Varying ◽  
Parameter Dependent

In this paper, a gain scheduled [Formula: see text] state-feedback controller has been designed to control the attitude of a linear parameter varying (LPV) model of a quadrotor unmanned aerial vehicle (UAV). The scheduling parameters vector, which consists of some states and the control inputs, must vary in a specified polyhedron so that the affine LPV model would be analyzable; therefore, some pre-assumed constraints on states and input saturation have been taken into account in design process. The stabilization and disturbance attenuation conditions are obtained via elementary manipulations on the notion of [Formula: see text] control design. The resulting parameter dependent linear matrix inequalities are solved through a Robust LMI Parser (Rolmip) – which works jointly with YALMIP (A toolbox for modeling and optimization in MATLAB)– by transforming polynomial parameter dependent matrices into multi-simplex domain, to best deal with nonconvex problems. In the end, simulation results have been presented and compared with existing literature to examine the capability of such method in the presence and absence of wind disturbances.

scholarly journals Output feedback controller design for polynomial linear parameter varying system via parameter-dependent Lyapunov functions

2017 ◽  
Vol 9 (2) ◽  
pp. 168781401769032 ◽  
Author(s):  
Xiaobao Han ◽  
Zhenbao Liu ◽  
Huacong Li ◽  
Xianwei Liu
Keyword(s):  
Output Feedback ◽  
Optimization Problem ◽  
Controller Design ◽  
Feedback Controller ◽  
Linear Matrix ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Output Feedback Controller ◽  
Parameter Varying ◽  
Parameter Dependent

This article presents a new output feedback controller design method for polynomial linear parameter varying model with bounded parameter variation rate. Based on parameter-dependent Lyapunov function, the polynomial linear parameter varying system controller design is formulated into an optimization problem constrained by parameterized linear matrix inequalities. To solve this problem, first, this optimization problem is equivalently transformed into a new form with elimination of coupling relationship between parameter-dependent Lyapunov function, controller, and object coefficient matrices. Then, the control solving problem was reduced to a normal convex optimization problem with linear matrix inequalities constraint on a newly constructed convex polyhedron. Moreover, a parameter scheduling output feedback controller was achieved on the operating condition, which satisfies robust performance and dynamic performances. Finally, the feasibility and validity of the controller analysis and synthesis method are verified by the numerical simulation.

scholarly journals Actuator fault detection and isolation on a quadrotor unmanned aerial vehicle modeled as a linear parameter-varying system

2019 ◽  
Vol 52 (9-10) ◽  
pp. 1228-1239 ◽  
Author(s):  
Julio Alberto Guzmán-Rabasa ◽  
Francisco Ronay López-Estrada ◽  
Brian Manuel González-Contreras ◽  
Guillermo Valencia-Palomo ◽  
Mohammed Chadli ◽  
...  
Keyword(s):  
Fault Detection ◽  
Unmanned Aerial Vehicle ◽  
Fault Detection And Diagnosis ◽  
Fault Detection And Isolation ◽  
Actuator Fault ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Aerial Vehicle ◽  
Parameter Varying ◽  
Detection And Diagnosis

This paper presents the design of a fault detection and diagnosis system for a quadrotor unmanned aerial vehicle under partial or total actuator fault. In order to control the quadrotor, the dynamic system is divided in two subsystems driven by the translational and the rotational dynamics, where the rotational subsystem is based on a linear parameter-varying model. A robust linear parameter-varying observer applied to the rotational subsystem is considered to detect actuator faults, which can occur as total failures (loss of a propeller or a motor) or partial faults (degradation). Furthermore, fault diagnosis is done by analyzing the displacements of the roll and pitch angles. Numerical experiments are carried out in order to illustrate the effectiveness of the proposed methodology.

Control of LPV systems subject to state constraints and input saturation

2018 ◽  
Vol 40 (14) ◽  
pp. 3985-3993 ◽  
Author(s):  
Yanmei Hu ◽  
Guangren Duan ◽  
Feng Tan
Keyword(s):  
Linear Matrix Inequalities ◽  
Input Saturation ◽  
Sufficient Conditions ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Linear Parameter ◽  
Parameter Uncertainties ◽  
Linear Parameter Varying ◽  
Linear Parameter Varying Systems ◽  
Parameter Varying

This paper deals with the stabilization of state-constrained linear parameter-varying systems subject to parameter uncertainties and input saturation. Based on a class of parameter-dependent Lyapunov functions, and the set invariance, sufficient conditions for the stabilization problem of the linear parameter-varying systems are established in terms of parameterized linear matrix inequalities. Further, these conditions are converted into linear matrix inequalities by using a parameter relaxation technique. Finally, detailed simulation results are presented to illustrate the effectiveness of the proposed methodology.

State estimation for a class of Linear Parameter-Varying systems with parametric uncertainties

2020 ◽  
Vol 42 (15) ◽  
pp. 3035-3042
Author(s):  
Zhongwei He ◽  
Wei Xie
Keyword(s):  
State Estimation ◽  
Sufficient Conditions ◽  
Estimation Methods ◽  
Linear Matrix ◽  
Parametric Uncertainties ◽  
Observation Error ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Linear Parameter Varying Systems ◽  
Parameter Varying

This paper is concerned with interval state estimation for a class of Linear Parameter-Varying systems with parametric uncertainties. Firstly, sufficient conditions to guarantee both the cooperativity and stability of observation error dynamics are presented in terms of parameterized matrix inequality formulations. Secondly, a novel method for scheduled controller law design is proposed in the framework of interval observer design. Under the assumptions that scheduled parameters have a polytopic structure property, the problems of the existence conditions of observers and scheduled controller design are transformed into finite linear matrix inequalities ones, which can be solved by convex optimization algorithms. The validity of the proposed state estimation methods is illustrated through a simple example.

Sign in / Sign up

Export Citation Format

Share Document