Piecewise affine modelling of a micro air vehicle using Voronoi partitions

This paper develops a three degrees of freedom (DOF) PWA model for a rotorcraft MAV. To develop the PWA model, a new function approximation method using a set of linearisation points (SLP) and Voronoi partitions is proposed. The SLP method is then compared to a uniform grid (UG) approximation, which is the current method being used in the literature of PWA. Next, a PWA controller is designed so the MAV follows a desired trajectory. Subsequently, the original system is placed in feedback connection with the PWA controller and a linear controller designed at the equilibrium point. Finally, simulation results are shown and conclusions are drawn. This work represents a key step in the development of PWA controller design for MAVs.