LPV Control of a Quadrotor

Abstract

This master thesis addresses the LPV control of a quadrotor system. The quadorotor model is first transformed to a LPV model respresentation starting from the nonlinear physical model. Then, using the LPV gain-scheduling control theory, several LPV controller schemes are designed. They are based on static state feedback control with or without reference model. Stability and performance will be established by means of LMIs. Finally, the implemented control solution will be tested in a quadorotor system in a simulation environment using the non-linear model. To assess the performances of those controllers, several scenarios have been simulated.