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 language | English |
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Title of host publication | 2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 742-746 |
Number of pages | 5 |
ISBN (Electronic) | 9786050107371 |
Publication status | Published - 2 Jul 2017 |
Event | 10th International Conference on Electrical and Electronics Engineering, ELECO 2017 - Bursa, Turkey Duration: 29 Nov 2017 → 2 Dec 2017 |
Publication series
Name | 2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017 |
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Volume | 2018-January |
Conference
Conference | 10th International Conference on Electrical and Electronics Engineering, ELECO 2017 |
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Country/Territory | Turkey |
City | Bursa |
Period | 29/11/17 → 2/12/17 |
Bibliographical note
Publisher Copyright:© 2017 EMO (Turkish Chamber of Electrical Enginners).