Unmanned aerial vehicle control method considering optimal compensation and gusts of wind

Sławomir Jan Stępień; Monika Pawlak; Wojciech Giernacki

doi:10.1109/MMAR62187.2024.10680769

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Title

Unmanned aerial vehicle control method considering optimal compensation and gusts of wind

Authors

Sławomir Jan Stępień (WARiE) ^{[ 1 ][ 2.2 ][ P ]}
Monika Pawlak (PP) ^{[ 2 ][ S ]}
Wojciech Giernacki (WARiE) ^{[ 3 ][ 2.2 ][ P ]}

^{[ 1 ]} Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | ^{[ 2 ]} Politechnika Poznańska | ^{[ 3 ]} Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | ^{[ P ]} employee | ^{[ S ]} student

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technologies

Year of publication

2024

Chapter type

chapter in monograph / paper

Publication language

english

Keywords

EN

unmanned aerial vehicle
quadrotor
State-Dependent Riccati Equation

Abstract

EN In this paper, a control strategy based on a coupled Proportional and State-Dependent Riccati Equation (P-SDRE) controller, which ensures a quick stabilization for a given angular position of an unmanned aerial vehicle in three-dimensional space, is presented. The Hamilton-Jacobi-Bellman function and the Riccati differential equation are used to develop the solution of the SDRE algorithm. Properly defined weighting matrices in performance index allow quadrotor’s fast and precise positioning with optimal stabilization of angular speeds. Cruise control of unmanned aerial vehicle is modelled and simulated. In order to prove the effectiveness of the method, disturbances modelled as wind gusts are included in the simulation.

Pages (from - to)

88 - 92

DOI

10.1109/MMAR62187.2024.10680769

URL

https://ieeexplore.ieee.org/abstract/document/10680769

Comments

Kwota: 2800 PLN

Finansowanie: środki finansowe, o których mowa w art. 365 pkt 2 ustawy

Book

2024 28th International Conference on Methods and Models in Automation and Robotics (MMAR)

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