Corona-Sanchez, José J. (ESIME Azcapotzalco), Mendoza Soto, José 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 20, 2024

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.