Robust tracking control of a quad-rotor unmanned aerial vehicle via interval matrix
SUN Miao-ping
LIU Jing-jing
NIAN Xiao-hong
WANG Hai-bo
Abstract：The robust tracking control strategies for a quad-rotor unmanned aerial vehicle (UAV) with changing flight environment are put forward based on the interval matrix.Firstly,the nonlinear dynamic model of the quad-rotor UAV is decoupled into the inner loop attitude control system and the outer loop position control system.Next,taking into account the change of the lift coefficient and non-negligible drag coefficient in medium and high speed which is caused by the changing flight environment,the interval matrix is introduced to describe the system parameters of the inter and outer loop system and the robust H-infinity feedback control methods are designed to reject the bounded disturbance in the closed inner-outer loop system.Then,according to Lyapunov stability theory,the LMI-based sufficient conditions of exponential asymptotic stability for outer-loop control system and robust asymptotic stability for inter-loop control system are derived.At the same time,the H-infinity performance indexes are both satisfied.Meanwhile,the gain matrices of controller are presented.Finally,the effectiveness,advantages and robustness of the proposed method are verified by simulation and experimental results.
Keywords：quad-rotor UAVtrajectory trackinguncertaintiesinterval matrixrobust control
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：11( 168-178 )