Time-Optimal Control of a Hovering Quad-Rotor Helicopter

Authors:
Li-Chun Lai;Chi-Ching Yang;Chia-Ju Wu
Affiliations:
Graduate School of Engineering Science and Technology, National Yunlin University of Science and Technology, Touliu, Taiwan (ROC) 640;Department of Electrical Engineering, Hsiuping Institute of Technology, Dali, Taiwan (ROC) 412;Department of Electrical Engineering, National Yunlin University of Science and Technology, Touliu, Taiwan (ROC) 640
Venue:
Journal of Intelligent and Robotic Systems
Year:
2006

Citing 2
Cited 5

A computationally efficient numerical algorithm for the minimum-time control problem of continuous systems

Automatica (Journal of IFAC)
Genetic Algorithms and Manufacturing Systems Design

Genetic Algorithms and Manufacturing Systems Design

Situational awareness based flight control of a four-rotor type UAV

ACMOS'11 Proceedings of the 13th WSEAS international conference on Automatic control, modelling & simulation
Performance benchmarking of quadrotor systems using time-optimal control

Autonomous Robots
Trajectory tracking with model predictive control for an unmanned quad-rotor helicopter: theory and flight test results

ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Real-time Stabilization of a Quadrotor UAV: Nonlinear Optimal and Suboptimal Control

Journal of Intelligent and Robotic Systems
An Efficient Model Predictive Control Scheme for an Unmanned Quadrotor Helicopter

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

The time-optimal control problem of a hovering quad-rotor helicopter is addressed in this paper. Instead of utilizing the Pontryagin's Minimum Principle (PMP), in which one needs to solve a set of highly nonlinear differential equations, a nonlinear programming (NLP) method is proposed. In this novel method, the count of control steps is fixed initially and the sampling period is treated as a variable in the optimization process. The optimization object is to minimize the sampling period such that it will be below a specific minimum value, which is set in advance considering the accuracy of discretization. To generate initial feasible solutions of the formulated NLP problem, genetic algorithms (GAs) are adopted. With the proposed method, one can find a time-optimal movement of the helicopter between two configurations. To show the feasibility of the proposed method, simulation results are included for illustration.