Control of the DarkO Tail-Sitter Drone through an LMI-Based Static Output Feedback Design
Résumé
This paper deals with the control of a convertible drone through the synthesis of Static Output Feedback (SOF) model-based controllers. To that end, a convex optimization algorithm based on Lyapunov's stability theory and Linear Matrix Inequalities (LMI) available in the literature is employed.
To evaluate the algorithm's performance, given that it has never been previously tested on realistic dynamical systems, it is implemented on the experimental model of the DarkO drone. Then, simulations of the closed-loop dynamic of the drone are carried out to assess the performance of the new design. For a preliminary experimental validation, the control architecture is implemented on the real drone system and test flights focused on the hovering phase and reference tracking in terms of position are carried out.
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