Linear Parameter Varying control of a quadrotor

Abstract

This paper describes a Linear Parameter Varying (LPV) controller design for a quadrotor vehicle. The controller synthesis requires the LPV plant model which is obtained by linearisation of the modelling equations, to be in an affine form. However, the LPV representation of the quadrotor dynamic is not affine; hence it has been transformed into to a convex polytopic form using Tensor Product (TP) transformation. The H∞ self gain scheduling control method has been applied to obtain a LPV controller which is tested on a simplified nonlinear model of the quadrotor. The LPV controller performance was compared with a separate H∞ controller. The LPV controller exhibited significant close tracking capabilities with respect to the H∞ controller.