This paper presents the optimal control for a minimum-time, large-angle reorientation maneuver of a quadrotor unmanned aerial vehicle. We use the Euler’s equations of motion and the Modified Rodrigues Parameters to describe the attitude motion of the vehicle. The minimum-time optimal control problem for large-angle reorientation maneuvers is formulated based on calculus of variations and Pontryagin’s minumum principle. At the end, the minimum-time problem is solved numerically and optimal controls are found for a typical quadrotor unmanned aerial vehicle. The numerical simulations confirm our results are in agreement with analytical methods.
- Dynamic Systems and Control Division
Time-Optimal Attitude Control of a Quadrotor UAV
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Ayoubi, MA, & Gazorpak, M. "Time-Optimal Attitude Control of a Quadrotor UAV." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 73-79. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8599
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