Inverse optimal controller design for a quadrotor unmanned aerial vehicle

Bora Bayraktaroglu, Moayed Almobaied, Mujde Guzelkaya, Ibrahim Eksin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

This paper presents the application of inverse optimal control approach to an unmanned quadrotor air vehicle system. Here, the inverse optimal controller is designed to solve the reference tracking problem relying on the use of control Lyapunov function. In the establishment of the control law, the affine-in-input discrete-time nonlinear system model is taken into consideration. A stabilizing feedback control law is constructed such that control Lyapunov function is known a priori. After stability examination and determination of a meaningful cost functional, respective cost functional is optimized. Then, a matrix that minimizes a tracking error function is searched using PSO algorithm. The designed controller has been applied to a nonlinear model of a quadrotor. It is shown that the proposed controller guarantees a fast convergence and makes the quadrotor stabilize itself very fast and follow aggressive trajectories accurately under certain circumstances.

Original languageEnglish
Title of host publication2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages742-746
Number of pages5
ISBN (Electronic)9786050107371
Publication statusPublished - 2 Jul 2017
Event10th International Conference on Electrical and Electronics Engineering, ELECO 2017 - Bursa, Turkey
Duration: 29 Nov 20172 Dec 2017

Publication series

Name2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017
Volume2018-January

Conference

Conference10th International Conference on Electrical and Electronics Engineering, ELECO 2017
Country/TerritoryTurkey
CityBursa
Period29/11/172/12/17

Bibliographical note

Publisher Copyright:
© 2017 EMO (Turkish Chamber of Electrical Enginners).

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