Inverse optimal controller design for a quadrotor unmanned aerial vehicle

Bora Bayraktaroglu, Moayed Almobaied, Mujde Guzelkaya, Ibrahim Eksin

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1 Atıf (Scopus)

Özet

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.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığı2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017
YayınlayanInstitute of Electrical and Electronics Engineers Inc.
Sayfalar742-746
Sayfa sayısı5
ISBN (Elektronik)9786050107371
Yayın durumuYayınlandı - 2 Tem 2017
Etkinlik10th International Conference on Electrical and Electronics Engineering, ELECO 2017 - Bursa, Turkey
Süre: 29 Kas 20172 Ara 2017

Yayın serisi

Adı2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017
Hacim2018-January

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???event.eventtypes.event.conference???10th International Conference on Electrical and Electronics Engineering, ELECO 2017
Ülke/BölgeTurkey
ŞehirBursa
Periyot29/11/172/12/17

Bibliyografik not

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

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