Finite horizon nonlinear optimal control for a quadrotor: Experimental results

Abstract

SummaryIn this article, a suboptimal nonlinear discrete control sequence for nonlinear discrete affine control systems is proposed. Using the dynamic programming approach in discrete time domain, the suboptimal control sequence is obtained in every step considering a quadratic performance index of finite horizon. The proposed control strategy is applied to improve the dynamic and energetic performances of a quadrotor unmanned aerial vehicle, when it is subject to special maneuvers or flight conditions, such as the take off and landing phases or trajectory tracking. For these tasks, it could be required convergence in finite time and good behavior. Performing a comparative experimental study with others controllers (optimal linear and PD controllers), the effectiveness of proposed approach is proven.