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Combined Observer-Based State Feedback and Optimized P/PI Control for a Robust Operation of Quadrotors
- Source :
- Axioms, Vol 13, Iss 5, p 285 (2024)
- Publication Year :
- 2024
- Publisher :
- MDPI AG, 2024.
-
Abstract
- This paper deals with a discrete-time observer-based state feedback control design by taking into consideration bounded parameter uncertainty, actuator faults, and stochastic noise in an inner control loop which is extended in a cascaded manner by outer PI- and P-control loops for velocity and position regulation. The aim of the corresponding subdivision of the quadrotor model is the treatment of the control design in a systematic manner. In the inner loop, linear matrix inequality techniques are employed for the placement of poles into a desired area within the complex z-plane. A robustification of the design towards noise is achieved by optimizing both control and observer gains simultaneously guaranteeing stability in a predefined bounded state domain. This procedure helps to reduce the sensitivity of the inner control loop towards changes induced by the outer one. Finally, a model-based optimization process is employed to tune the parameters of the outer P/PI controllers. To allow for the validation of accurate trajectory tracking, a comparison of the novel approach with the use of a standard extended Kalman filter-based linear-quadratic regulator synthesis is presented to demonstrate the superiority of the new design.
Details
- Language :
- English
- ISSN :
- 20751680
- Volume :
- 13
- Issue :
- 5
- Database :
- Directory of Open Access Journals
- Journal :
- Axioms
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.5b9b3ebea3a74ac495bbc9764c120e92
- Document Type :
- article
- Full Text :
- https://doi.org/10.3390/axioms13050285