Volume 6 Number 2 (Feb. 2011)
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JSW 2011 Vol.6(2): 193-200 ISSN: 1796-217X
doi: 10.4304/jsw.6.2.193-200

Constrained Optimal Controller Design of Aerial Robotics Based on Invariant Sets

Jianqiang Li1, Yahui Lu1, Zhen Ji1, Hailong Pei2
1College of Computer Science and Software Engineering, Shenzhen University, Shenzhen 518060, China
2Department of Automation, South China University of Technology, Guangzhou 510641, China


Abstract—Constrained optimal control problem of unmanned aerial vehicle (UAV) which is also called aerial robotics is studied in this paper. The nonlinear system of small unmanned helicopter with bounded disturbance is abstracted and modeled by PWA hybrid systems model. As the complexity on-line computation for a class of large hybrid systems, an explicit optimal controller for hybrid systems based on multi-parametric quadratic programming (mp-QP) is proposed. The feasible domain which is the maximal controlled invariant sets for hybrid systems is partitioned in backward dynamic programming by mp-QP method. At each step, one step reachable sets are computed, optimal control laws are constructed to the corresponding regions, and the explicit optimal controller is obtained. Finally simulation results verify the effectiveness of the proposed control method.

Index Terms—aerial robotics, hybrid systems, invariant sets, mp-qp, explicit controller

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Cite: Jianqiang Li, Yahui Lu, Zhen Ji, Hailong Pei, "Constrained Optimal Controller Design of Aerial Robotics Based on Invariant Sets," Journal of Software vol. 6, no. 2, pp. 193-200, 2011.

General Information

ISSN: 1796-217X (Online)
Frequency:  Quarterly
Editor-in-Chief: Prof. Antanas Verikas
Executive Editor: Ms. Yoyo Y. Zhou
Abstracting/ Indexing: DBLP, EBSCO, CNKIGoogle Scholar, ProQuest, INSPEC(IET), ULRICH's Periodicals Directory, WorldCat, etc
E-mail: jsw@iap.org
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