Quadrotor Control Design under Time and State Constraints: Implicit Lyapunov Function Approach

Siyuan Wang (1) , Andrey Polyakov (1) , Gang Zheng (2)

1 VALSE - Finite-time control and estimation for distributed systems
2 DEFROST - Deformable Robots Simulation Team

The problem of a state feedback design for control of a quadrotor system under state and time constraints is studied. Convex embedding approach and Implicit Lyapunov function are employed to design a finite-time controller. The feedback gain is solved by a system of LMIs(Linear Matrix Inequalities). Theoretical results are supported with numerical simulation.

Domaines: Automatique

Siyuan Wang, Andrey Polyakov, Gang Zheng. Quadrotor Control Design under Time and State Constraints: Implicit Lyapunov Function Approach. ECC'19 - European Control Conference, Jun 2019, Naples, Italy. ⟨hal-02093641⟩