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

K. Alexis; G. Nikolakopoulos; A. Tzes

doi:10.1109/acc.2010.5531005

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 proceeding › Conference 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 language	English (US)
Title of host publication	Proceedings of the 2010 American Control Conference, ACC 2010
Publisher	IEEE Computer Society
Pages	4451-4455
Number of pages	5
ISBN (Print)	9781424474264
DOIs	https://doi.org/10.1109/acc.2010.5531005
State	Published - 2010

Publication series

Name	Proceedings of the 2010 American Control Conference, ACC 2010

Keywords

Constrained optimal control
Unmanned aerial vehicles

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/acc.2010.5531005

Cite this

Alexis, K., Nikolakopoulos, G., & Tzes, A. (2010). Constrained optimal attitude control of a quadrotor helicopter subject to wind-gusts: Experimental studies. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 4451-4455). Article 5531005 (Proceedings of the 2010 American Control Conference, ACC 2010). IEEE Computer Society. https://doi.org/10.1109/acc.2010.5531005

Constrained optimal attitude control of a quadrotor helicopter subject to wind-gusts: Experimental studies. / Alexis, K.; Nikolakopoulos, G.; Tzes, A.
Proceedings of the 2010 American Control Conference, ACC 2010. IEEE Computer Society, 2010. p. 4451-4455 5531005 (Proceedings of the 2010 American Control Conference, ACC 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Alexis, K, Nikolakopoulos, G & Tzes, A 2010, Constrained optimal attitude control of a quadrotor helicopter subject to wind-gusts: Experimental studies. in Proceedings of the 2010 American Control Conference, ACC 2010., 5531005, Proceedings of the 2010 American Control Conference, ACC 2010, IEEE Computer Society, pp. 4451-4455. https://doi.org/10.1109/acc.2010.5531005

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AB - 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.

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

Abstract

Publication series

Keywords

ASJC Scopus subject areas

Access to Document

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