Research and design on optimal controller of aerial robotics

Authors:
Jian-Qiang Li;Jian-Fei Yin;Hao-Bo Lu;Hai-Long Pei
Affiliations:
College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China;College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China;College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China;Department of Automation, South China University of Technology, Guangzhou, China
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

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Abstract

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.