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Model reference quasi-LPV control of a quadrotor UAV
Rotondo, Damiano; Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
In this paper, a solution for the attitude/altitude tracking control problem is proposed for a quadrotor Un-manned Aerial Vehicle (UAV). The solution relies on the use of a reference model, where the resulting nonlinear error model is brought to a quasi-Linear Parameter Varying (LPV) form using the embedding in the parameters approach. The quasi-LPV model is suitable for designing a controller using Linear Matrix Inequalities (LMI)-based techniques, such that the resulting closed-loop error system is stable with poles placed in some desired region of the complex plane. Simulation results are used to show the effectiveness of the proposed approach. In particular, the quadrotor can reach asymptotically the reference trajectory for all the considered simulation runs.
Peer Reviewed
Drone aircraft
Linear Parameter Varying (LPV) systems
Unmanned Aerial Vehicles (UAVs)
Tracking
Quadrotor
Model reference control
Avions no tripulats
info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/conferenceObject
Institute of Electrical and Electronics Engineers (IEEE)
         

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