Coupled PID-SDRE Controller of a Quadrotor: Positioning and Stabilization of UAV Flight
[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] pracownik
2022
rozdział w monografii naukowej / referat
angielski
- Quadrotor
- Proportional-Integral-Derivative Control
- State-Dependent Riccati Equation
- Infinite-time Horizon Control
EN This work presents a coupled Proportional-Integral-Derivative and State-Dependent Riccati Equation (PID-SDRE) controller. PID angular position controller coupled to nonlinear infinite-time SDRE controller for speed stabilization is proposed. For the quadrotor modelling a full 6 degree of freedom (DoF) model is considered and described by nonlinear state-space approach. Also, a stable state-dependent parameterization (SDP) necessary for solution of the SDRE control problem is proposed. Solution of the SDRE control problem with adequate defined weighting matrices in the performance index shows the possibility of fast and precise quadrotor positioning with optimal stabilization of speeds. Two methods of optimal SDRE-based stabilization are proposed, tested, and compared.
524 - 530
CC BY-NC-ND (uznanie autorstwa - użycie niekomercyjne - bez utworów zależnych)
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