Design of a Reference Governor in a Zonotopic Framework Applied to a Quadrotor under Feedback Linearization Control Strategies

Delansnay, Gilles; Vande wouwer, Alain

doi:10.1007/s10846-023-01947-7

Article (Scientific journals)

Design of a Reference Governor in a Zonotopic Framework Applied to a Quadrotor under Feedback Linearization Control Strategies

Delansnay, Gilles; Vande wouwer, Alain

2023 • In Journal of Intelligent and Robotic Systems, 109 (1)

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https://hdl.handle.net/20.500.12907/46552

DOI
10.1007/s10846-023-01947-7

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Keywords :

Feedback linearization; Flight control; Nonlinear dynamic inversion; Nonlinear systems; Quadcopter; Reachability; Reference governor; Unmanned aerial vehicle; Zonotope; Aerial vehicle; Feedback linearisation; Quad rotors; Reference governors; Zonotopes; Software; Control and Systems Engineering; Mechanical Engineering; Industrial and Manufacturing Engineering; Electrical and Electronic Engineering; Artificial Intelligence

Abstract :

[en] This work investigates the combination of different feedback linearization strategies with a reference governor scheme, i.e., a specific control scheme that enables the handling of constraint and limit protection, developed in a zonotopic framework. The zonotopic representation of the safe flight envelope is simple and computationally efficient for real-time implementation. The global scheme consisting of feedback linearization and reference governor ensures safe flight under disturbances and constraints, as illustrated with numerical tests using the Parrot Mambo simulator provided in the Mathworks Simulink environment. Discussions of trajectory tracking, input constraints and robustness to modeling uncertainties are included.

Disciplines :

Aerospace & aeronautics engineering

Author, co-author :

Delansnay, Gilles ; Université de Mons - UMONS > Faculté Polytechnique > Service Systèmes, Estimation, Commande et Optimisation

Vande wouwer, Alain ; Université de Mons - UMONS > Faculté Polytechniqu > Service Systèmes, Estimation, Commande et Optimisatio

Language :

English

Title :

Design of a Reference Governor in a Zonotopic Framework Applied to a Quadrotor under Feedback Linearization Control Strategies

Publication date :

September 2023

Journal title :

Journal of Intelligent and Robotic Systems

ISSN :

0921-0296

eISSN :

1573-0409

Publisher :

Institute for Ionics

Volume :

109

Issue :

Peer reviewed :

Peer Reviewed verified by ORBi

Additional URL :

https://link.springer.com/content/pdf/10.1007/s10846-023-01947-7.pdf

Research unit :

F107 - Systèmes, Estimation, Commande et Optimisation

Research institute :

Energie

Available on ORBi UMONS :

since 16 October 2023

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