Unmanned aerial vehicle control method considering optimal compensation and gusts of wind
[ 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 ] pracownik | [ S ] student
[2.2] Automatyka, elektronika, elektrotechnika i technologie kosmiczne
2024
rozdział w monografii naukowej / referat
angielski
- unmanned aerial vehicle
- quadrotor
- State-Dependent Riccati Equation
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.
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