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Título

Model reference quasi-LPV control of a quadrotor UAV

AutorRotondo, Damiano; Nejjari, Fatiha; Puig, Vicenç
Fecha de publicación2014
EditorInstitute of Electrical and Electronics Engineers
CitaciónIEEE Conference on Control Applications: 736-741 (2014)
ResumenIn this paper, a solution for the attitude/altitude tracking control problem is proposed for a quadrotor Unmanned Aerial Vehicle (UAV). The solution relies on the use of a reference model, where the resulting nonlinear error model is brought to a quasi-Linear Parameter Varying (LPV) form using the embedding in the parameters approach. The quasi-LPV model is suitable for designing a controller using Linear Matrix Inequalities (LMI)-based techniques, such that the resulting closed-loop error system is stable with poles placed in some desired region of the complex plane. Simulation results are used to show the effectiveness of the proposed approach. In particular, the quadrotor can reach asymptotically the reference trajectory for all the considered simulation runs.
DescripciónTrabajo presentado a la IEEE Conference on Control Applications (CCA) celebrada en Juan-les-Pins, Antibes (Francia) del 8 al 10 de octubre de 2014.
URIhttp://hdl.handle.net/10261/127374
DOI10.1109/CCA.2014.6981428
Identificadoresdoi: 10.1109/CCA.2014.6981428
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