Dynamic Optimization based Control System Design for Minimal Time Multi Way Points Tracking of A Quadrotor UAV
Endra Joelianto · Proceedings of International Conference on Intelligent Unmanned Systems · 2010
Quadrotors are rotocraft unmanned aerial vehicles that has four independent rotors. The design of its rotors offers advantages, such as increasing payload, having high manuverability, and performing vertical take-off or landing. It needs a control system to move to different locations. In this paper, the trajectory is divided into several points from initial to final point, or also known as multi way points. The objective of the controller is to produce minimum time moving from an initial point to a final point. Multi way points tracking is performed by the dynamic optimization based Proportional Integral (PI) controller. The minimization is carried out real time and is solved by using Sequential Quadratic Programming (SQP) method to obtain the optimum parameters of the PI controller.