Switching Wireless Control for Longitudinal Quadrotor Maneuvers

To improve the maneuverability of remotely guided quadrotors in longitudinal motion, the design goal of independent control of the horizontal and the vertical velocity, is satisfied. For the sake of the communication delays, a synchronization / signal reconstruction algorithm, imposing constant delays, is applied and the design goal is satisfied by introducing a stepwise safe switching procedure for time delay dynamic controllers. The proposed controllers are designed to satisfy I/O decoupling, stability and atmospheric disturbance attenuation. The controllers are determined via a mixed analytic and metaheuristic design procedure. To increase the range of the external commands, the stepwise safe switching algorithm is based on the approximate minimization of a composite criterion including the infinity norm and the H 2 norm of the variations around trim points under hard constraints for the steady state performance and the overshoot of the performance variables. The satisfactory performance of the proposed control scheme is illustrated through simulations for a climbing maneuver passing through different target operating areas.