Multirate Sampled-Data Control for Quadrotor UAV With Network-Induced Delay: An IQC-Based Cone Complement Linearization Algorithm

This article explores the problems of stability analysis and targets trajectory tracking of a quadrotor UAV with arbitrary network-induced time delays under three control loops. To realize a better control result, the multirate sampled-data control (MRSDC) is considered, where the attitude, position, and velocity loops are sampled aperiodically at different sampled-data frequencies. Three of the obvious technical difficulties are addressed in this article. First, the problem of hovering the quadrotor at an arbitrary point is transformed into a problem of stability analysis at nonzero equilibrium points by model conversion. Second, the tracking control of the intended trajectory is realized by analyzing the newly constructed error system. On the basis of the above work, a multirate sampled-data controller algorithm based on integral quadratic constraint (IQC) and cone complement algorithm is proposed. Finally, a simulation is given to display that the stability criterion in this study can ensure a large upper constraint on the maximum sampled-data interval (MSDI), and the controller gain can make the system state converge to the stable state faster.