Quadrotor Trajectory Tracking Based on Quasi-LPV System and Internal Model Control

Author:

He ZeFang1,Zhao Long12ORCID

Affiliation:

1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

2. Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China

Abstract

Internal model control (IMC) design method based on quasi-LPV (Linear Parameter Varying) system is proposed. In this method, the nonlinear model is firstly transformed to the linear model based on quasi-LPV method; then, the quadrotor nonlinear motion function is transformed to transfer function matrix based on the transformation model from the state space to the transfer function; further, IMC is designed to control the controlled object represented by transfer function matrix and realize quadrotor trajectory tracking. The performance of the controller proposed in this paper is tested by tracking for three reference trajectories with drastic changes. The simulation results indicate that the control method proposed in this paper has stronger robustness to parameters uncertainty and disturbance rejection performance.

Funder

National Natural Science Foundation of China

Publisher

Hindawi Limited

Subject

General Engineering,General Mathematics

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