Volume 6 Number 2 (Feb. 2011)
Home > Archive > 2011 > Volume 6 Number 2 (Feb. 2011) >
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


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
  • Apr 26, 2021 News!

    Vol 14, No 4- Vol 14, No 12 has been indexed by IET-(Inspec)     [Click]

  • Nov 18, 2021 News!

    Papers published in JSW Vol 16, No 1- Vol 16, No 6 have been indexed by DBLP   [Click]

  • Dec 24, 2021 News!

     Vol 15, No 1- Vol 15, No 6 has been indexed by IET-(Inspec)   [Click]

  • Nov 18, 2021 News!

    [CFP] 2022 the annual meeting of JSW Editorial Board, ICCSM 2022, will be held in Rome, Italy, July 21-23, 2022   [Click]

  • Nov 25, 2022 News!

    Vol 17, No 6 has been published with online version     [Click]