Constrained Optimal Controller Design of Aerial Robotics Based on Invariant Sets

Constrained optimal control problem of unmanned aerial vehicle (UAV) which is also called aerial robotics is studied in this paper. The nonlinear system of small unmanned helicopter with bounded disturbance is abstracted and modeled by PWA hybrid systems model. As the complexity on-line computation for a class of large hybrid systems, an explicit optimal controller for hybrid systems based on multi-parametric quadratic programming (mp-QP) is proposed. The feasible domain which is the maximal controlled invariant sets for hybrid systems is partitioned in backward dynamic programming by mp-QP method. At each step, one step reachable sets are computed, optimal control laws are constructed to the corresponding regions, and the explicit optimal controller is obtained. Finally simulation results verify the effectiveness of the proposed control method.