LMI-Based State Feedback Design for Quadcopter Optimal Path Control and Tracking

Abstract

This paper proposes an LMI-based trajectory tracking controller for a quadcopter aerial vehicle. Its main objective is to enable the unmanned vehicle to optimally track a desired path and stabilize its translational and rotational movements. The dynamic equations of the quadcopter are first derived using the Euler-Lagrange equations. Then, a state feedback control technique based on state-space error is derived to force the quadcopter to track the rotational movements. Finally, the path tracking control approach is synthesized and its design parameters are computed using the LMI technique. The approach is validated using numerical simulations. The obtained results showed accurate path tracking performance and stable dynamics.