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http://hdl.handle.net/20.500.12358/24636
TitleInverse optimal controller design for a quadrotor unmanned aerial vehicle
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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 …

Authors
Bayraktaroğlu, Bora
Almobaied, Moayed
Güzelkaya, Müjde
Eksin, Ibrahim
TypeJournal Article
Date2017
Published inElectrical and Electronics Engineering (ELECO), 2017 10th International Conference on
PublisherIEEE
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  • Staff Publications- Faculty of Engineering [908]
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The institutional repository of the Islamic University of Gaza was established as part of the ROMOR project that has been co-funded with support from the European Commission under the ERASMUS + European programme. This publication reflects the views only of the author, and the Commission cannot be held responsible for any use which may be made of the information contained therein.

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The institutional repository of the Islamic University of Gaza was established as part of the ROMOR project that has been co-funded with support from the European Commission under the ERASMUS + European programme. This publication reflects the views only of the author, and the Commission cannot be held responsible for any use which may be made of the information contained therein.

Contact Us | Send Feedback