Finite-time switched LPV control of quadrotors with guaranteed performance

This paper presents a novel finite-time switched linear parameter-varying (LPV) control method for quadrotors subject to large attitude angles and external disturbances. For controller design purpose, both the nonlinear attitude and position dynamics are modeled as a switched LPV system without the idealized assumption of linear approximation. A family of polytopic LPV controllers are designed and each of them is available for a specific parameter subspace of the quadrotor system. The persistent dwell time (PDT) switching logic is adopted to govern the switching behavior among these controllers, which is capable of addressing more general parameter variations than typically used dwell time or average dwell time. By applying an extended cost function, the established switched LPV control method ensures a guaranteed finite-time H_∞/LQR performance for the error-tracking system of quadrotors. The advantages of the proposed method are demonstrated via simulations.