Research and Design on Optimal Controller of Aerial Robotics
Constrained optimal control problem of aerial robotics is studied in this paper. The nonlinear system of small unmanned helicopter is abstracted, modeled by PWA hybrid systems model. As the complexity on-line computation for a class of large hybrid systems, an explicit optimal controller for hybrid systems based on multi-parametric quadratic programming (mp-QP) is proposed. The feasible domain which is the maximal controlled invariant sets for hybrid systems is partitioned in backward dynamic programming by mp-QP method. At each step, one step reachable sets are computed, optimal control laws are constructed to the corresponding regions, and the explicit optimal controller is abtained. Simulation results verify the effectiveness of the proposed control method.
LI Jian-qiang Yin Jian-fei Lu Hao-bo PEI Hai-long
College of Computer Science and Software Engineering,Shenzhen University,Shenzhen 518060,China Department of Automation,South China University of Technology Guangzhou 510641,China
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
469-474
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）