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Multi Way Points Tracking Control System Design of A Quadrotor UAV by Means of Dynamic Optimization
Abstract
Quadrotors are known as a class of rotorcraft unmanned aerial vehicles (RUAVs) which has four independent rotors to control the manuvers. The UAV has ability to carry out vertical take-off and landing (VTOL) with high
manuverability and stability. The system has 4 inputs and 6 outputs with underactuated and nonholonomic features. The objective of the paper is to design a control system that moves the quadrotor to different location by dividing the trajectory from an initial location to a target location into several points (multi way points). Moreover, the movement of the quadrotor from one point to next point in the trajectory must be done with minimum error. The proposed control system consists of a state feedback, Proportional-Integral (PI) controller and an optimization algorithm. The state feedback is used to stabilize the manuver of the quadrotor. Multi way points tracking is accomplished by the dynamic optimization based PI controller that minimizes the tracking error.
manuverability and stability. The system has 4 inputs and 6 outputs with underactuated and nonholonomic features. The objective of the paper is to design a control system that moves the quadrotor to different location by dividing the trajectory from an initial location to a target location into several points (multi way points). Moreover, the movement of the quadrotor from one point to next point in the trajectory must be done with minimum error. The proposed control system consists of a state feedback, Proportional-Integral (PI) controller and an optimization algorithm. The state feedback is used to stabilize the manuver of the quadrotor. Multi way points tracking is accomplished by the dynamic optimization based PI controller that minimizes the tracking error.
References
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. E. Ekawati, The Development of Systematic Controllability Assessment for Process Control Designs, PhD Thesis, School of Engineering, Murdoch
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DOI: http://dx.doi.org/10.21535%2FProICIUS.2010.v6.526
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