Comparison of parameter-varying decoupling based control schemes for a quadrotor

Thomas T.R. van de Wiel, Roland Tóth, Vsevolod I. Kiriouchine

Research output: Contribution to journalArticleAcademicpeer-review

3 Citations (Scopus)
13 Downloads (Pure)

Abstract

This paper presents and compares approaches to the design of flight controllers for quadrotor helicopters based on Linear Parameter-Varying (LPV) decoupling techniques. It is shown that parameter-varying decoupling makes it possible to use SISO LTI control design to address all degrees of motion freedom subject to high-speed maneuvers that require large pitch and roll angles. Specifically a decoupling method based on local linearizations (gain-scheduling decoupling) is compared to a global scheduling-dependent decoupling method inspired by computed-torque control, where the scheduling is based on the tilt angels of the drone. Based on an extensive simulation study, it is demonstrated that such a relatively simple control architecture can achieve significantly better performance than LTI control. Conceptually, the presented techniques can be used for the design of control schemes for aircraft and missiles.

Original languageEnglish
Pages (from-to)55-61
Number of pages7
JournalIFAC-PapersOnLine
Volume51
Issue number26
DOIs
Publication statusPublished - 23 Nov 2018

Keywords

  • decoupling
  • Linear Parameter-Varying systems
  • quadrotor

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