A Rational Polynomial Tracking Control Approach to a Common System Representation for Unmanned Aerial Vehicles
Kazuo A. TANAKA, Motoyasu Tanaka, Arimasa Iwase, Hua O. Wang · IEEE/ASME Transactions on Mechatronics · 2020
This article presents a rational polynomial tracking control approach to a common system representation for unmanned aerial vehicles (UAVs). First, we newly provide a common system representation of kinematic models for straight and orbit paths. A polynomial representation is introduced to describe the common system. To stabilize the polynomial system, we design a rational polynomial controller using a sum-of-squares (SOS)-based design framework. A set of stabilization conditions considering a real actuator saturation is represented in terms of SOS, where a relaxation for the SOS design conditions is brought by considering practical operation domains. The SOS-based design framework is applied to path stabilization for a real UAV platform (a parafoil wing-type UAV). Experimental results demonstrate the capabilities of the proposed SOS-based design framework in path stabilization of real-world complex UAVs.