The feedback linearisation method for Embedded Model Control: The Borea project case-study

Lotufo, Mauricio Alejandro; Colangelo, Luigi; Montenegro, Carlos Perez; Canuto, Enrico

doi:10.1109/med.2015.7158797

Cited by 3 publications

(5 citation statements)

References 15 publications

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“…The obtained value is reported in Table I. The next step was the identification of the function g(•) in (2). To this aim, a polynomial form was assumed for this function.…”

Section: A Static Nonlinearity Modelmentioning

confidence: 99%

“…The values of c p0 and c p1 are reported in Table IV. In order to achieve an input-ouput relation is sufficient to make the time derivative of (14) without considering the model error e p (•) and substitute the actuator dynamics in (2),…”

Section: A Emc Control Unitmentioning

confidence: 99%

“…The work presented in this paper has been carried out within the Borea Project (see [1], [2]). This project aims to emulate, using an Unmanned Aerial Vehicle (UAV), guidance, navigation and control strategies to be employed in space applications.…”

Section: Introductionmentioning

confidence: 99%

“…A real UAV (more precisely, a quadrotor) was already constructed within the Borea project, see [1]. Preliminary studies and simulations, finalized at the design of the quadrotor control unit were also carried out, see [1], [2]. Based on these preliminary activities, three main contributions are provided in the present paper.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Identification and control of a quadrotor from experimental data

Lotufo

Perez-Montegro

Colangelo

et al. 2016

2016 24th Mediterranean Conference on Control and Automation (MED)

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The paper presents experimental results related to attitude control of a quadrotor rotating about a single axis. The Embedded Model Control (EMC) methodology is used for control design. Indeed, this methodology can be very effective in applications involving relevant disturbances, modeling errors and unknown nonlinearities, since it allows a cancellation of all these sources of uncertainty. EMC control design is performed from a detailed quadrotor model, where the actuator dynamics is identified from experimental data. The designed EMC controller is compared with a standard proportionalintegral-derivative (PID) controller in several tests, carried out on a laboratory testbench.

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“…The obtained value is reported in Table I. The next step was the identification of the function g(•) in (2). To this aim, a polynomial form was assumed for this function.…”

Section: A Static Nonlinearity Modelmentioning

confidence: 99%

Section: A Emc Control Unitmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Identification and control of a quadrotor from experimental data

Lotufo

Perez-Montegro

Colangelo

et al. 2016

2016 24th Mediterranean Conference on Control and Automation (MED)

View full text Add to dashboard Cite

show abstract

“…In this chapter, it is presented two of them, the computed-torque and the Incremental Nonlinear Dynamic Inversion (INDI). The computed-torque and feedback linearisation has already been applied to quadrotors control (LOTUFO et al, 2015;BALASUBRAMANIAN;VASANTHARAJ, 2013), tri-rotors control (MOHAMED; LANZON, 2013) and fixed-wing control (CHEN; HE; QIAN, HU et al, 2012), but only preliminary results without convergence were applied to a tailsitter attitude controller (KOHNO; UCHIYAMA, 2014) and for the control of the flight velocity and path angle, which are more related to the navigation of a tailsitter (JUNG; SHIM, 2012). INDI was also used for the control of fixed-wing (SIEBERLING; CHU; MULDER, 2010), a quadrotor (SMEUR; CHU; CROON, 2015) and a tiltrotor (FRANCESCO; MATTEI, 2015), but not for tailsitters, reinforcing the contribution of the DI with PID structure for AVALON.…”

Section: Chapter Overviewmentioning

confidence: 99%