DocumentCode :
164208
Title :
Discrete optimal control for a quadrotor UAV: Experimental approach
Author :
Santos, Omar ; Romero, H. ; Salazar, S. ; Lozano, Rogelio
Author_Institution :
Inf. Technol. & Syst. Res. Center, UAEH, Pachuca, Mexico
fYear :
2014
fDate :
27-30 May 2014
Firstpage :
1138
Lastpage :
1145
Abstract :
In this paper we propose a discrete time optimal control law to stabilize the four-rotor rotorcraft in attitude and position. The main objective of this kind of control law is to save energy and therefore increase the effective time in takeoff and hover flight phases for this robotic platforms. The optimal control law is synthesized considering a infinite horizon combined with an exact linearization by applying a nonlinear control law over nonlinear equations describing the robot dynamic model. The control law obtained is simple, easy and better adapted to be programmed in a micro-controller. Both simulation and experimental test and results show a satisfactory UAV behavior.
Keywords :
aircraft control; attitude control; autonomous aerial vehicles; control system synthesis; discrete time systems; helicopters; infinite horizon; microcontrollers; nonlinear control systems; nonlinear equations; optimal control; position control; robot dynamics; stability; UAV behavior; attitude stabilization; discrete optimal control; discrete time optimal control law; energy saving; four-rotor rotorcraft stabilization; hover flight phase; infinite horizon; microcontroller; nonlinear control law; nonlinear equations; optimal control law synthesis; position stabilization; quadrotor UAV; robot dynamic model; robotic platforms; takeoff phase; Attitude control; Helicopters; Mathematical model; Optimal control; Performance analysis; Robots; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2014 International Conference on
Conference_Location :
Orlando, FL
Type :
conf
DOI :
10.1109/ICUAS.2014.6842368
Filename :
6842368
Link To Document :
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