Trejo Escamilla, Edgar G. (IPN), Romero, Hugo (ICBI - UAEH), Santos, Omar (Universidad Autónoma del Estado de Hidalgo), Salazar, Sergio (UMI LAFMIA CINVESTAV), Lozano, Rogelio (University of Technology of Compiègne)

GPI Controller for Quadrotor UAV Stabilization

Scheduled for presentation during the "UAS Control - III" (FrC5), Friday, June 16, 2017, 16:20−16:40, San Marco Island

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 25, 2024

Abstract

In this paper a Generalized Proportional Integral controller is synthesized in order to stabilize both attitude and position a four rotor mini helicopter. The main idea to use this kind of controller is to avoid the use of derivative terms and asymptotic observers in the design of the control law and consequently their respective numeric algorithms for the real-time implementation. So, these asymptotic observers and derivative terms are replaced by integral state reconstructor. The synthesized GPI control law is tested by numerical simulation considering a quadrotor dynamical model obtained by Euler-Lagrange formalism and obtained results are satisfactory and they suggest that the synthesized GPI control law can be tested in real-time flights.