Open AccessDesign of Robust Positively Invariant Set with Associated Controller for the Multi-rotor UAV
Author(s) -
Zhinan Li,
Weihua Li,
Peng Wang
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/631/3/032053
Subject(s) - control theory (sociology) , nonlinear system , bounded function , offset (computer science) , tracking error , invariant (physics) , computer science , set (abstract data type) , controller (irrigation) , mathematics , control engineering , engineering , artificial intelligence , control (management) , mathematical analysis , physics , quantum mechanics , agronomy , biology , mathematical physics , programming language
In this paper, a nonlinear multi-rotor unmanned aerial vehicle (UAV) system with bounded disturbance and input saturation is considered and we design a robust positively invariant (RPI) set for the trajectory tracking problem of the multi-rotor UAV. A nonlinear controller with disturbances offset is designed firstly to ensure the stability of tracking, and the RPI set is constructed based on linear matrix inequalities (LMIs). For the tracking error within the designed RPI set, the designed controller can always guarantee that the tracking error stays in the RPI set forever and eventually converges to zero. The effectiveness of the proposed results are confirmed by the numerical simulation.