Experimental evaluation of HJB optimal controllers for the attitude dynamics of a multirotor aerial vehicle

被引：9

作者：

Acampora Prado, Igor Afonso ^{[1
]}

Virgilio Pereira, Mateus de Freitas ^{[1
]}

de Castro, Davi Ferreira ^{[1
]}

dos Santos, Davi Antonio ^{[1
]}

Balthazar, Jose Manoel ^{[1
]}

机构：

[1] Inst Tecnol Aeronaut, Praca Marechal Eduardo Gomes 50, BR-12228900 Sao Jose Dos Campos, SP, Brazil

来源：

ISA TRANSACTIONS | 2018年 / 77卷

关键词：

Multirotor Aerial Vehicles; Hamilton-Jacobi-Bellman equation; Optimal control; Attitude control; FEEDBACK-CONTROL; QUADROTOR; SYSTEMS; HELICOPTER; POSITION; DESIGN;

D O I：

10.1016/j.isatra.2018.04.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The present paper is concerned with the design and experimental evaluation of optimal control laws for the nonlinear attitude dynamics of a multirotor aerial vehicle. Three design methods based on Hamilton-Jacobi-Bellman equation are taken into account. The first one is a linear control with guarantee of stability for nonlinear systems. The second and third are a nonlinear suboptimal control techniques. These techniques are based on an optimal control design approach that takes into account the nonlinearities present in the vehicle dynamics. The stability Proof of the closed-loop system is presented. The performance of the control system designed is evaluated via simulations and also via an experimental scheme using the Quanser 3-DOF Hover. The experiments show the effectiveness of the linear control method over the nonlinear strategy. (C) 2018 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：188 / 200

页数：13

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