Robust control of UAVs using the parameter space approach

Samer Abdelmoeti, Raffaella Carloni

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    16 Citations (Scopus)
    55 Downloads (Pure)

    Abstract

    In this paper a robust PID controller for quadrotor unmanned aerial vehicles is proposed that uses the pa- rameter space approach. Stability and robustness analyses are carried out in the controller parameter space to determine a set of stable controller gains that guarantee also robustness against system parameter uncertainties. Additionally, the trade- off between robustness and performance is included in the control gain choice. Experimental results validate the proposed approach, where the robust behavior of a quadrotor is shown for step response and path following.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE International Conference on Intelligent Robots and Systems
    Place of PublicationUSA
    PublisherIEEE
    Pages5632-5637
    Number of pages6
    DOIs
    Publication statusPublished - Oct 2016
    Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of
    Duration: 9 Oct 201614 Oct 2016
    http://www.iros2016.org/

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society
    ISSN (Print)2153-0866
    ISSN (Electronic)2153-0866

    Conference

    Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
    Abbreviated titleIROS
    Country/TerritoryKorea, Republic of
    CityDaejeon
    Period9/10/1614/10/16
    Internet address

    Keywords

    • EWI-27575
    • IR-103140
    • METIS-320936

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