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 language | Undefined |
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Title of host publication | Proceedings of the IEEE International Conference on Intelligent Robots and Systems |
Place of Publication | USA |
Publisher | IEEE |
Pages | 5632-5637 |
Number of pages | 6 |
DOIs | |
Publication status | Published - Oct 2016 |
Event | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016 http://www.iros2016.org/ |
Publication series
Name | |
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Publisher | IEEE Robotics and Automation Society |
ISSN (Print) | 2153-0866 |
ISSN (Electronic) | 2153-0866 |
Conference
Conference | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 |
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Abbreviated title | IROS |
Country/Territory | Korea, Republic of |
City | Daejeon |
Period | 9/10/16 → 14/10/16 |
Internet address |
Keywords
- EWI-27575
- IR-103140
- METIS-320936