Nonlinear optimal control of the UAV and suspended payload system

Gerasimos Rigatos, Krishna Busawon, Patrice Wira, Masoud Abbaszadeh

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

A nonlinear optimal control approach is developed for the UAV and suspended load system. The dynamic model of the UAV and payload system undergoes approximate linearization. This makes use of Taylor series expansion around a temporary operating point which recomputed at each iteration of the control method. The linearization procedure relies on the computation of the Jacobian matrices of the state-space model of the system. Next, an H-infinity feedback controller is designed for the approximately linearized model. The proposed control method stands for the solution of the optimal control problem for the nonlinear and multivariable dynamics of the UAV and payload system, under model uncertainties and external perturbations. To compute the controller's feedback gains an algebraic Riccati equation is solved at each time-step of the control algorithm. The new nonlinear optimal control approach achieves fast and accurate tracking for all state variables of the UAV and payload system, under moderate variations of the control inputs. Finally, Lyapunov analysis is used to prove the global stability properties of the control scheme.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3776-3781
Number of pages6
ISBN (Electronic)9781509066841
ISBN (Print)9781509066841
DOIs
Publication statusPublished - 31 Dec 2018
Event44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
Duration: 20 Oct 201823 Oct 2018

Conference

Conference44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
CountryUnited States
CityWashington
Period20/10/1823/10/18

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