Experimental characterization of a small and micro unmanned aerial vehicle propulsion systems

Fabela, Roberto; Santana, Carlos Eduardo; Naranjo, Aryok; Amézquita-Brooks, Luis; Licéaga‐Castro, Eduardo; Torres-Reyna, Marco

doi:10.2514/6.2016-1530

Cited by 4 publications

(1 citation statement)

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“…The literature shows that the complex dynamics of the quadrotors represent a challenge from a control point-of-view. Indeed, the quadrotor model exhibits nonlinear dynamics, coupling between control axes and uncertainties such as aerodynamical effects [3], [4]. To address the control problem, the literature reports two main approaches, namely, nonlinear and linear control design techniques.…”

Section: Introductionmentioning

confidence: 99%

Attraction domain estimation of linear controllers for the attitude control of VTOL vehicles: P/PI control of a quadrotor

Barra

Scorletti

Lesecq

et al. 2020

2020 European Control Conference (ECC)

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In this paper, we present a numerical method based the Lyapunov theory to estimate the attraction domain of a class of nonlinear systems. This problem is motivated by the analysis of linear attitude controllers for the control of Vertical Take-Off and Landing (VTOL) vehicles such as quadrotors. These linear controllers are typically designed in order to ensure local stability around the hover point. The purpose of this work is to estimate their attraction domain around this point. The proposed attraction domain estimation method requires to solve a convex optimization problem involving parameter-dependent Linear Matrix Inequalities (LMI). This problem is generally difficult to solve as it is an infinite dimensional optimization problem. However, we reveal that the specific structure of the VTOL vehicles attitude model can be exploited to make this LMI problem finite dimensional and thus numerically solvable.

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Section: Introductionmentioning

confidence: 99%