부산대학교 도서관

This paper investigates the problem of exponential stability analysis for multi-rate aperiodic sampled-data control of the quadrotor unmanned aerial vehicle. A new stability-equivalent feedback interconnection model under the three control loops of attitude, position and velocity is proposed. based on this, the competing cheap exponential stability criterion is obtained. The sampled-data behavior is independent of each other in the three control loops, and each channel is selected for aperiodic sampled-data. The influence of sampled-data and delay on the system is represented by a diagonal structured operator and is estimated by an explicit upper bound on the operator’s norm. Simulation results show that the control of multiple control loops permits a more flexible adjustment of the sampled-data frequency, thus reducing the waste of resources. Single-rate sampled-data is also applicable as a special case.