This paper is concerned with large-angle attitude tracking control for quadrotors in the presence of time-varying inertia and external disturbances using a switched linear parameter-varying (LPV) system method. The attitude system of the quadrotor is divided into two parts, that is, the outer attitude-angle loop and inner angular-velocity loop. A feedback linearization controller is designed in the outer loop to generate the desired angular velocities. In the inner loop, the nonlinear quadrotor dynamics with time-varying inertia is approximated by a switched LPV system that consists of a series of LPV models. The persistent dwell time (PDT) switching logic is adopted to describe the fast and slow switches coexist among these LPV models. Then, both the continuous-time state-feedback and dynamic output-feedback controllers are designed, which ensure the globally uniformly asymptotically stability and external disturbance attenuation performance of the attitude tracking error system. Finally, the effectiveness of the proposed tracking control method of quadrotors is validated with an example.

中文翻译：

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大姿态角时变惯性四旋翼飞行器切换线性变参跟踪控制

本文涉及使用切换线性参数变化 (LPV) 系统方法在存在时变惯性和外部干扰的情况下对四旋翼飞行器进行大角度姿态跟踪控制。四旋翼飞行器的姿态系统分为外姿态角环和内角速度环两部分。在外环中设计了一个反馈线性化控制器以生成所需的角速度。在内环中，具有时变惯性的非线性四旋翼动力学由一系列 LPV 模型组成的切换 LPV 系统近似。采用持久驻留时间（PDT）切换逻辑来描述这些 LPV 模型之间共存的快速和慢速切换。然后，设计了连续时间状态反馈控制器和动态输出反馈控制器，姿态跟踪误差系统的外扰衰减性能。最后，通过实例验证了所提出的四旋翼飞行器跟踪控制方法的有效性。