Optimal control of quad-rotor helicopter using state feedback LPV method

In this paper, the control of a quad-rotor helicopter is considered. The nonlinear model of the quad-rotor is transformed to a linear model subject to time-varying parameters called linear parameter-varying (LPV) systems. Then, the composite quadratic Lyapunov function and the quadratic cost function are used to find the optimal state feedback gain. To obtain the optimal solution, the LPV control problem is cast to the semi-definite programing problem with a set of Linear Matrix Inequality (LMI) constraints. The simulation results are provided to demonstrate the effectiveness of the proposed method.

I. Introduction

In the last couple of years, the quad-rotor helicopter has be-come popular Unmanned Aerial Vehicle (UAV) platform [1], , , , [5]. Comparing to the conventional helicopter, it is essentially simpler to build and control. Today, there are many useful applications such as surveillance, rescue, and so on [3], , [5]. Therefore, it is essential to autonomously control its motion with accuracy.