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Modeling and robust attitude control of a quadrotor system

Author
Torres, A.; Bolea, Y.
Type of activity
Presentation of work at congresses
Name of edition
CCE 2013 - 10th International Conference on Electrical Engineering, Computing Science and Automatic Control
Date of publication
2013
Presentation's date
2014-09-30
Book of congress proceedings
Electrical Engineering, Computing Science and Automatic Control (CCE), 2013 10th International Conference on
First page
7
Last page
12
DOI
https://doi.org/10.1109/ICEEE.2013.6676024 Open in new window
Repository
http://hdl.handle.net/2117/24376 Open in new window
URL
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6676024&tag=1 Open in new window
Abstract
This paper describes the no-lineal model, and attitude Robust control of a Quadrotor MIMO System (UAV). The dynamic model of the UAV is transformed into a LTI system and approximated by a SISO system due to the low coupling among the canals of the system. The unknown model parameters have been taken of the system implemented in the Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV). Finally, robust controller has been designed using H8 theory. The effectiv...
Citation
Torres, A.; Bolea, Y. Modeling and robust attitude control of a quadrotor system. A: International Conference on Electrical Engineering, Computing Science and Automatic Control. "Electrical Engineering, Computing Science and Automatic Control (CCE), 2013 10th International Conference on". Ciutat de Mèxic: 2013, p. 7-12.
Keywords
LTI system, MIMO system, Quadrotor, coupled system, robust control
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants