doi: 10.4304/jsw.6.2.193-200
Constrained Optimal Controller Design of Aerial Robotics Based on Invariant Sets
- 1 College of Computer Science and Software Engineering, Shenzhen University, Shenzhen 518060, China
- 2 Department 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.
Keywords
- aerial robotics
- hybrid systems
- invaria
How to Cite
Jianqiang Li, Yahui Lu, Zhen Ji, and Hailong Pei, "Constrained Optimal Controller Design of Aerial Robotics Based on Invariant Sets," Journal of Software, vol. 6, no. 2, pp. 193-200, 2011. https://doi.org/ 10.4304/jsw.6.2.193-200
Copyright & License
Copyright © 2011 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).