Simple Interpolating Control with Non-Symmetric Input Constraints for a Tilt- Rotor UAV

Contrary to the polytopic Interpolating Control (IC) approach, Simple Interpolating Control (SIC) applies to high-order systems and does not require online numerical optimization. SIC design approaches are based on linear matrix inequalities (LMIs) and are formulated for symmetrical design constraints. On the other hand, control input constraints are generally non-symmetric in nature. The purpose of this paper is to present how the quasi-non-symmetric constraint approach can be used to overcome this limitation in LMI-based SIC for high-order systems. An illustrative example of a tilt-rotor drone regulation problem demonstrates the robustness of the approach with respect to a naive conservative approach. Furthermore, it provides uncompromising performance against model predictive control (MPC) without the need to solve online optimization problems. Interpolating control, Non-symmetric constraints, Tilt-Rotor UAV.