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Conference papers
Quadrotor LPV Control using Static Output Feedback
Abstract : This paper addresses the problem of attitude/altitude control of a quadrotor. The main contribution consists in developing a simple Linear Parameter Varying model which includes the motor dynamics and weight variations. Afterwards, a reference model is introduced and an error model is derived. An integral action is thus naturally included in the loop. The proposed controller takes the form of a static output feedback which is synthesised using the Linear Matrix Inequalities framework. Thanks to a relaxation method the nonlinear terms are removed from the matrix inequalities. The controller in then reconstructed as a combination of the integral of the error, the actual output and the preview reference signal. Simulations are conducted for a scenario showing the ability of the design method to handle different performance objectives.
https://hal.archives-ouvertes.fr/hal-02190394
Contributor : Frédéric Davesne <>
Submitted on : Tuesday, March 2, 2021 - 2:41:25 PM
Last modification on : Wednesday, March 3, 2021 - 3:55:37 PM
Contributor : Frédéric Davesne <>
Submitted on : Tuesday, March 2, 2021 - 2:41:25 PM
Last modification on : Wednesday, March 3, 2021 - 3:55:37 PM
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ICNSC2019_THP_SM.pdf
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