Quadrotor Trajectory Tracking Based on Quasi-LPV System and Internal Model Control

• Main Authors: ZeFang He, Long Zhao
• Format: Article
• Language: English
• Published: Hindawi Limited 2015-01-01
• Series: Mathematical Problems in Engineering
• Online Access: http://dx.doi.org/10.1155/2015/857291

Internal model control (IMC) design method based on quasi-LPV (Linear Parameter Varying) system is proposed. In this method, the nonlinear model is firstly transformed to the linear model based on quasi-LPV method; then, the quadrotor nonlinear motion function is transformed to transfer function matrix based on the transformation model from the state space to the transfer function; further, IMC is designed to control the controlled object represented by transfer function matrix and realize quadrotor trajectory tracking. The performance of the controller proposed in this paper is tested by tracking for three reference trajectories with drastic changes. The simulation results indicate that the control method proposed in this paper has stronger robustness to parameters uncertainty and disturbance rejection performance.