LMIs-Based LPV Control of Quadrotor with Time-Varying Payload
نویسندگان
چکیده
Applications of a quadrotor with payload, particularly for chemical spraying, have increased in recent times. The variation payload mass over time causes change the moments inertia (MOI). Moreover, large tilt angles are required fast reference tracking and external disturbance rejection. These variations plant parameters (i.e., inertia) can degrade control scheme’s performance stability. This article proposes linear matrix inequalities (LMIs)-based parameter varying (LPV) scheme subject to time-varying mass, inertia, flow rate, angles. strategy is designed by solving LMIs derived from quadratic H∞ D-stability. robust stability assessed LMIs. efficacy proposed methodology established using numerical simulations, its compared time-invariant (LTI) design pole placement constraints. results obtained show that LPV gives better presence parameters, noise, disturbances without actuator saturation. In comparison LTI technique, improves rise (tr), settling (ts), mean squared error (MSE) up 14%, 15%, 30%, respectively. smooth transitions observed signals scheme, contrary controller, which exhibits significant oscillations.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2023
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app13116553