Quadrotor LPV Control using Static Output Feedback

The Hung Pham (1) , Saïd Mammar (1)

1 IBISC - Informatique, BioInformatique, Systèmes Complexes

This paper addresses the problem of attitude/altitude control of a quadrotor. The main contribution consists in developing a simple Linear Parameter Varying model which includes the motor dynamics and weight variations. Afterwards, a reference model is introduced and an error model is derived. An integral action is thus naturally included in the loop. The proposed controller takes the form of a static output feedback which is synthesised using the Linear Matrix Inequalities framework. Thanks to a relaxation method the nonlinear terms are removed from the matrix inequalities. The controller in then reconstructed as a combination of the integral of the error, the actual output and the preview reference signal. Simulations are conducted for a scenario showing the ability of the design method to handle different performance objectives.

Mots clés: UAV; LMI; Preview Control; Takagi-Sugeno

Domaines: Automatique / Robotique

The Hung Pham, Saïd Mammar. Quadrotor LPV Control using Static Output Feedback. IEEE 16th International Conference on Networking, Sensing and Control (ICNSC 2019), May 2019, Banff, Canada. pp.74--79, ⟨10.1109/ICNSC.2019.8743181⟩. ⟨hal-02190394⟩