OPTIMUM TRAJECTORY TRACKING CONTROL OF A MULTI-ROTOR AERIAL VEHICLE

Felipe Machini M. Marques¹; Douglas L. Silva¹; Roberto M. F. Neto¹; Leonardo Sanches¹

¹ Universidade Federal de Uberlândia

doi:10.20906/CPS/CILAMCE2017-0297

Resumo

This paper deals with the dynamical modeling of a generic multi-rotor aerial vehicle and the project of a trajectory-tracking controller using optimum modern control technique. The dynamical model is obtained from the Newton-Euler laws such that the system has 6 degrees of freedom and as many inputs as the number of rotors. Further, the equations of motion are linearized around a trimmed operational condition using the small perturbation theory in order to enable the modern control technique to be applied. The control technique concerned is the optimum LQR control approached as a servomechanism problem in order to follow a desired reference input that may be time-variant. Therefore, this technique allows the aircraft position control through velocity and attitude signals as the reference inputs. Finally, the control stability and robustness are tested via MATLAB/SIMULINK® simulations

Palavras-chave: UAV; Trajectory Tracking; Optimum Control; Dynamical Modeling