Model reference quasi-LPV control of a quadrotor UAV

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/24813

dc.contributor	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor	Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control
dc.contributor	Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
dc.contributor.author	Rotondo, Damiano
dc.contributor.author	Nejjari Akhi-Elarab, Fatiha
dc.contributor.author	Puig Cayuela, Vicenç
dc.date	2014
dc.identifier.citation	Rotondo, D.; Nejjari, F.; Puig, V. Model reference quasi-LPV control of a quadrotor UAV. A: IEEE International Conference on Control Applications. "IEEE Multi-Conference on Systems and Control (MSC 2014), 8-10 octubre, Antibes (France)". Antibes: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 736-741.
dc.identifier.citation	978-1-4799-7408-5
dc.identifier.citation	978-1-4799-7408-5/14/$31.00 ©2014 IEEE
dc.identifier.uri	http://hdl.handle.net/2117/24813
dc.language.iso	eng
dc.publisher	Institute of Electrical and Electronics Engineers (IEEE)
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Drone aircraft
dc.subject	Linear Parameter Varying (LPV) systems
dc.subject	Unmanned Aerial Vehicles (UAVs)
dc.subject	Tracking
dc.subject	Quadrotor
dc.subject	Model reference control
dc.subject	Avions no tripulats
dc.title	Model reference quasi-LPV control of a quadrotor UAV
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	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.
dc.description.abstract	Peer Reviewed

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