Constrained optimal attitude control of a quadrotor helicopter subject to wind-gusts: Experimental studies

K. Alexis, G. Nikolakopoulos, A. Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A Constrained Finite Time Optimal Controller (CFTOC) for attitude set-point maneuvers of an Unmanned Quadrotor Helicopter (UqH) operating under severe wind conditions is the subject of this article. The UqH's nonlinear dynamics is linearized in various operating points resulting in a set of piecewise models. The CFTOC is designed for set-point maneuvers taking into account the switching between the linear models and the constraints of the actuators. The control scheme is applied in experimental studies in a prototype UqH operating in harsh weather conditions resulting from wind gusts. The UqH rejects the induced wind-disturbances while performing attitude set-point maneuvers.

Original languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
PublisherIEEE Computer Society
Pages4451-4455
Number of pages5
ISBN (Print)9781424474264
DOIs
StatePublished - 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

Keywords

  • Constrained optimal control
  • Unmanned aerial vehicles

ASJC Scopus subject areas

  • Control and Systems Engineering

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