Skip to Main content Skip to Navigation
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.
Document type :
Conference papers
Complete list of metadatas

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

File

ICNSC2019_THP_SM.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

The Hung Pham, Saïd Mammar. Quadrotor LPV Control using Static Output Feedback. IEEE 16th International Conference on Networking, Sensing and Control (ICNSC 2019), May 2019, Banff, Canada. pp.74--79, ⟨10.1109/ICNSC.2019.8743181⟩. ⟨hal-02190394⟩

Share

Metrics

Record views

87