Trajectory Tracking of Nonlinear Unmanned Rotorcraft Based on Polytopic Modeling and State Feedback Control

Amir Hooshang Mazinan | Mohammad Hosein Kazemi | Reza Tarighi

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URL :   http://research.shahed.ac.ir/WSR/WebPages/Report/PaperView.aspx?PaperID=148057
Date :  2020/12/02
Publish in :    IETE Journal of Research
DOI :  https://doi.org/10.1080/03772063.2020.1779136
Link :  https://www.tandfonline.com/doi/full/10.1080/03772063.2020.1779136
Keywords :LMI, LPV, Nonlinear, modeling, Polytopic, modeling, Unmanned, rotorcraft

Abstract :

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Trajectory tracking is extremely difficult for rotorcrafts based on the nonlinear model and taking into account all the parameters of the system and especially considering the effects of flapping and the main rotor and its control tail in all directions. This paper describes the tracking route, based on nonlinear model and velocity control and feedback mode and Polytopic linear parameter varying (LPV) modeling with the help of solving linear matrix inequalities (LMI) equations for different conditions and complex maneuvers for an unmanned rotorcraft that has been examined in all directions including, longitudinal, altitudinal, latitudinal directions. Based on the different operating points of the system and the different flight conditions, first a Polytopic modeling of the system is performed, and then the control signal is generated based on the state feedback and solution of the linear matrix inequalities (LMI) equations. The final control signal consists of feedback of changes of the state variables around the nominal trajectory under the designed feedback gains, in addition to the nominal control signal for the desired trajectory. In calculating the nominal control signal for the optimum trajectory, the Polytopic system model is used instead of the nonlinear system model. Therefore, the final control signal does not require a dynamic system model and all control calculations are performed using a Polytopic system model and have high computational speed. System simulation shows the capabilities of the proposed control system in different operating conditions.