Position-heading quadrotor control using LPV techniques

摘要: This work presents a solution to the position-heading control problem of small quadrotor. The main idea this study is exploit advantages linear parameter varying (LPV) approach together with feedback linearisation for designing cascade structure without need perform simplifications respect reference dynamic model used in literature. use LPV representation attitude subsystem allows consider it as independent position one, allowing structure. For inner loop, proposed quasi-LPV–linear-quadratic regulator (LQR) controller and proportional–integral observer (PIO) are solved an optimal manner by solving set matrix inequalities (LMIs). While outer developed before corresponding PIO also minimising LQR means LMIs. Furthermore, another interchangeable such that controls velocities body frame proposed. using combination techniques. solutions applied AscTec Hummingbird unmanned aerial vehicle simulation.