{"title":"Optimal control of quad-rotor helicopter using state feedback LPV method","authors":"A. Serirojanakul, M. Wongsaisuwan","doi":"10.1109/ECTICON.2012.6254219","DOIUrl":null,"url":null,"abstract":"In this paper, the control of a quad-rotor helicopter is considered. The nonlinear model of the quad-rotor is transformed to a linear model subject to time-varying parameters called linear parameter-varying (LPV) systems. Then, the composite quadratic Lyapunov function and the quadratic cost function are used to find the optimal state feedback gain. To obtain the optimal solution, the LPV control problem is cast to the semi-definite programing problem with a set of Linear Matrix Inequality (LMI) constraints. The simulation results are provided to demonstrate the effectiveness of the proposed method.","PeriodicalId":6319,"journal":{"name":"2012 9th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology","volume":"12 1","pages":"1-4"},"PeriodicalIF":0.0000,"publicationDate":"2012-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 9th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ECTICON.2012.6254219","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 9
Abstract
In this paper, the control of a quad-rotor helicopter is considered. The nonlinear model of the quad-rotor is transformed to a linear model subject to time-varying parameters called linear parameter-varying (LPV) systems. Then, the composite quadratic Lyapunov function and the quadratic cost function are used to find the optimal state feedback gain. To obtain the optimal solution, the LPV control problem is cast to the semi-definite programing problem with a set of Linear Matrix Inequality (LMI) constraints. The simulation results are provided to demonstrate the effectiveness of the proposed method.
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