Velocity Control of Nonlinear Unmanned Rotorcraft using Polytopic Modelling and State Feedback Control

Document Type : Original Article


1 Department of Control Engineering, Faculty of Electrical Engineering, South Tehran Branch, Islamic Azad University, Tehran, Iran

2 Faculty of Electrical Engineering, Shahed University, Tehran, Iran


Performance and improvement of flight efficiency at various velocities for flight systems, in particular, rotorcrafts, with specific complexities in motion and its nonlinear equations are always of particular interest to researchers in the aerial and control domains. In this research, a new control algorithm is addressed based on the complete nonlinear Unmanned Rotorcraft (UR) model and its four main inputs. Exploiting state feedback and Polytopic Linear Parameter Varying (PLPV) modeling and using Linear Matrix Inequality (LMI), the velocity control problem is investigated. The trim points of the system are produced under different velocity control conditions. State feedback control gain matrix which plays a main role in producing the ultimate control signal, is computed by solving a set of LMIs under various conditions. Finally, instead of using a Nonlinear model, a Polytopic model is used for controller synthesis. With this goal, different scenarios for the proposed flight velocity control (in different dynamic ranges, minimum velocity to maximum velocity) are implemented. The simulation results demonstrate a very good performance of the proposed controller in the basis of PLPV modelling. It can be concluded that the proposed  manner is useful to overcome the disruptions imposed on the flight system due to the changes in the equilibrium points and the uncertainties of the parameters and/or possible errors due to the unwanted possibilities in the system.


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