ICUAS'17 Paper Abstract

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Paper WeA1.5

Ordaz, Jose Jairo (CINVESTAV), Salazar, Sergio (UMI LAFMIA CINVESTAV), Mondie, Sabine (CINVESTAV-IPN), Lozano, Rogelio (University of Technology of Compičgne), López, Jesús Ricardo (CINVESTAV)

Quad Rotor-UAV Stabilization by Predictor Based Control

Scheduled for presentation during the "Autonomy - I" (WeA1), Wednesday, June 14, 2017, 11:20−11:40, Salon E

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on July 22, 2019

Keywords Control Architectures, UAS Applications, UAS Testbeds

Abstract

This works deals with the problem to stabilize a Quad rotor-UAV in presence of time-delay and disturbances. The proposed controller is based on the reduction approach, i.e. the system transformation into one without delay which might be stabilized using a regular controller. Mathematical induction method allows to develop a new transformation based on the fundamental theorem of calculus. A closed-loop stability analysis based on Lyapunov theory is address to prove the feasibility of the controller. The proposed technique is applied to an experimental platform with 4 DOF (degrees of freedom) specifically designed to bring a secure and easy way to tune and test experimental controllers.

 

 

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