Gain-Scheduled Control of a Quadcopter UAV

control theory;gain scheduling;adaptive;PID;quadcopter;quadrotor;nonlinear systems;linearization;feedback;linear quadratic regulator;Applied Mathematics

Sawyer, Shaun

University of Waterloo

关键词: control theory;    gain scheduling;    adaptive;    PID;    quadcopter;    quadrotor;    nonlinear systems;    linearization;    feedback;    linear quadratic regulator;    Applied Mathematics;   

Others  :  https://uwspace.uwaterloo.ca/bitstream/10012/9488/1/sawyer_shaun.pdf

瑞士|英语

来源: UWSPACE Waterloo Institutional Repository

【 摘 要 】

In this thesis we develop a gain-scheduled control law for the quadcopter unmanned aerial vehicle (UAV). Techniques from linear control theory are introduced and used to construct adaptive proportional and proportional-integral control laws for use with both state and observer-based output feedback. The controller monitors the yaw angle of the quadcopter and updates a gain matrix as the system evolves through operating points. To demonstrate the effectiveness of the gain-scheduled controller, trajectories involving significant variation in the yaw angle are tracked by the quadcopter, including a helix and Lissajous curve. We consider physical implementation of the controller, and offer suggestions for improvement and future work.