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Position-heading quadrotor control using LPV techniques

Author
Trapiello, C.; Puig, V.; Morcego, B.
Type of activity
Journal article
Journal
IET control theory and applications
Date of publication
2019-02-04
Volume
13
Number
6
First page
783
Last page
794
DOI
10.1049/iet-cta.2018.6147
Project funding
DEOCS: Monitorización, diagnostico y control tolerante a fallos de sistemas ciberfísicos con métodos basados en datos
SCAV DPI2017- 88403-R
Repository
http://hdl.handle.net/2117/131512 Open in new window
URL
https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.6147 Open in new window
Abstract
This work presents a solution for the position-heading control problem of a small quadrotor. The main idea of this paper is to exploit the advantages of the Linear Parameter Varying (LPV) control approach, together with a feedback linearization approach, for designing a cascade control structure without the need to perform simplifications with respect to the reference dynamic model used in the literature. The use of a LPV representation of the attitude subsystem allows to consider it as independ...
Citation
Trapiello, C.; Puig, V.; Morcego, B. Position-heading quadrotor control using LPV techniques. "IET control theory and applications", 4 Febrer 2019, vol. 13, núm. 6, p. 783-794.
Keywords
LPV control, Unmanned Aerial Vehicles (UAV)
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems

Participants