ICUAS'17 Paper Abstract

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Paper WeB3.5

Corona-Sanchez, Josť J. (ESIME Azcapotzalco), Mendoza Soto, Josť Luis (UNAM, Instituto de Ingenieria, Mexico), Rodriguez Cortes, Hugo (CINVESTAV-IPN)

Partial State Robust Output Maneuvering Controller Applied to a Quadcopter Vehicle

Scheduled for presentation during the "Control Architecture - II" (WeB3), Wednesday, June 14, 2017, 16:20−16:40, Salon CD

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 April 12, 2021

Keywords Control Architectures, Navigation, Airspace Control

Abstract

This article addresses the problem of quadrotors following a path geometry under the action of a constant external disturbance and with partial state measurement. To solve these issues, under the assumption of time scale separation between the translational dynamics and the closed-loop rotational dynamics, we propose an integral output robust maneuvering controller in combination with a translational velocity observer and an external disturbance estimator. Experimental results demonstrate the performance of the proposed control algorithm.

 

 

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