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.
|Number of pages||7|
|Publication status||Published - 23 Nov 2018|
|Event||2nd IFAC Workshop on Linear Parameter Varying Systems LPVS 2018 - Florianópolis, Brazil|
Duration: 3 Sep 2018 → 5 Sep 2018
Conference number: 2
- Linear Parameter-Varying systems