LMI-based LPV control strategy considering UAV systems

Abstract

This investigation presents a procedure of dealing with the quadrotor unmanned aerial vehicle systems via the linear matrix inequalities based linear parameter varying (LMI-based LPV) control strategy under the state-of-the-art integration. It should be noted that this linear parameter varying technique has been introduced as an alternative gain scheduling process. As it implies the dynamics of the plant model as well as the controller are based on a set of time varying parameters, while these ones can be unknown in advance. It is to note that the aforementioned parameters may be measured in real time and therefore both the plant and the controller are changing as a function of operating conditions. This type of control strategy ensures the required performance, robustness and stability along all possible trajectories of the parameters to be guaranteed, theoretically. The scheduling parameters are taken into consideration as roll and pitch angles. The simulation results verify the effectiveness of the proposed control strategy in considering the stability and its tracking concerning the optimal references.