Title :
Controllability and observability analysis of the gain scheduling based linearization for UAV quadrotor
Author :
Ataka, Ahmad ; Tnunay, Hilton ; Inovan, Reka ; Abdurrohman, Muhammad ; Preastianto, Hanry ; Cahyadi, Adha Imam ; Yamamoto, Yusaku
Author_Institution :
Gadjah Mada Univ., Yogyakarta, Indonesia
Abstract :
This paper presents the gain scheduling based linearization of simplified quadrotor non-linear model as well as the test for the system controllability and observability for various equilibrium point. The simplified non-linear model of quadrotor is linearized at some equilibrium points to get the linear state equation. Then, the controllability and observability test is done to the linearized model for various equilibrium points. The system behavior is then tested by using the state feedback controller to confirm the result.
Keywords :
aircraft control; autonomous aerial vehicles; controllability; helicopters; linearisation techniques; mobile robots; nonlinear control systems; observability; state feedback; telerobotics; UAV quadrotor; controllability analysis; controllability test; equilibrium point; gain scheduling; linear state equation; linearization; observability analysis; observability test; simplified quadrotor non-linear model; state feedback controller; unmanned aerial vehicle; Erbium; LQR; Quadcopter; linearization gain scheduling; non-linear control system;
Conference_Titel :
Robotics, Biomimetics, and Intelligent Computational Systems (ROBIONETICS), 2013 IEEE International Conference on
Conference_Location :
Jogjakarta
Print_ISBN :
978-1-4799-1206-3
DOI :
10.1109/ROBIONETICS.2013.6743606
