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LPV and Nonlinear-based control of an Autonomous Quadcopter under variations of mass and moment of inertia ?

机译：在惯性的质量和时刻的变化中的LPV和基于非线性的Quadcopter控制

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This paper presents a hybrid robust control strategy to solve the trajectory tracking function of a quadcopter with time-varying mass. In the context of this paper, two ways of changing the mass of a quadcopter are considered. The first one involves a gradual continuous reduction of the mass throughout the flying time, and the second involves an abrupt change at some point during the flight. Besides the change of the mass, the moments of inertia with respect to the three axes are also changing. These moments of inertia are recalculated in realtime according to the mass changes.The quadcopter model is separated into two subsystems: rotational and translational. The rotational subsystem contains several time-varying parameters, such as the mass, the moments of inertia, and the speed of the rotor. It can be considered as a quasi-Linear Parameter Varying (LPV) system. An LPVH∞controller has been designed to stabilize the orientation actuator’s dynamic. To ensure that the quadcopter follows the pre-defined trajectory, a combination of Integral Backstepping and Proportional Derivative (PD) controllers are used for the translational subsystem.The efficiency and robustness of the proposed cascaded controller with disturbances, noises, and model parameters uncertainties have been tested in MATLAB.
机译：本文介绍了混合稳健控制策略，以解决Quadcopter的轨迹跟踪功能与时变质量。在本文的上下文中，考虑了改变Quadcopter质量的两种方式。第一个涉及在整个飞行时间逐渐连续减少质量，第二个涉及在飞行期间的某些时间突然变化。除了质量的变化之外，相对于三个轴的惯性矩也也在发生变化。根据质量变化，将这些惯性矩重新计算。Quadcopter模型分为两个子系统：旋转和平移。旋转子系统包含多个时变参数，例如质量，惯性矩，以及转子的速度。它可以被视为准线性参数变化（LPV）系统。 LPVH∞Controller旨在稳定方向执行器的动态。为了确保Quadcopter遵循预定义的轨迹，积分BackStepping和比例导数（PD）控制器的组合用于翻译子系统。所提出的级联控制器的效率和鲁棒性具有干扰，噪声和模型参数的不确定性在Matlab中经过测试。

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