Linear Parameter-Varying Controller Design for a Nonlinear Quad-Rotor Helicopter Model for High Speed Trajectory Tracking

P. S.G. Cisneros, C. Hoffmann, M. Bartels, H. Werner

Abstract

This paper presents an approach to position control of a quadrotor helicopter using Linear Parameter-Varying (LPV) synthesis techniques. The use of LPV control proves beneficial when tracking high speed maneuvers that require large tilt angles. For larger deviations from the hover position, a linear approximation is no longer adequate and the performance resulting from Linear Time-Invariant (LTI) controllers is negatively impacted and can even lead to instability. The proposed method uses the tilt angles as scheduling parameters for the position subsystem and the yaw rate for the orientation subsystem while compensating for the yaw angle via a rotation of reference and feedback signals, thereby simplifying the model and allowing for high accuracy approximation in a large operating envelope. Contrary to previous LPV control approaches, no Jacobian linearization takes place, which enables larger tilt angles and therefore faster trajectories to be followed.

Original languageEnglish
Title of host publication2016 American Control Conference (ACC)
Number of pages6
PublisherIEEE
Publication date28.07.2016
Pages486-491
Article number7524961
ISBN (Print)978-1-4673-8680-7, 978-1-4673-8683-8
ISBN (Electronic)978-1-4673-8682-1
DOIs
Publication statusPublished - 28.07.2016
Event2016 American Control Conference
- Boston Marriott Copley Place , Boston, United States
Duration: 06.07.201608.07.2016
Conference number: 123142

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