Stochastic Controller Design for multi rotor UAV under Intermittent Localization
This paper presents a controller design for Unmanned Aerial Vehicles (UAV) of multi rotor type, where global positioning is only intermittently available. The developed controllers are of state space/observer type with switching, where discrete modes are determined by the momentary availability of absolute geographical localization. Control design is based on a generalized concept of stochastic moment stability and conducted towards optimal robustness towards measurement intermittency. A simplistic but frequently applied mechanical model of the UAV under control, as well as the onboard inertial measurement unit (IMU) is presented and used as a basis for the proposed design methodology. Test flight results are presented with artificial measurement intermittency demonstrating the robustness of the designed controller.
2018 Australian New Zealand Control Conference (ANZCC)