Robust control of UAVs using the parameter space approach

Samer Abdelmoeti, Raffaella Carloni

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

    2 Citations (Scopus)

    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 ROBOTICS AND AUTOMATION SOCIETY
    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
    CountryKorea, Republic of
    CityDaejeon
    Period9/10/1614/10/16
    Internet address

    Keywords

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

    Cite this

    Abdelmoeti, S., & Carloni, R. (2016). Robust control of UAVs using the parameter space approach. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (pp. 5632-5637). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/IROS.2016.7759828
    Abdelmoeti, Samer ; Carloni, Raffaella. / Robust control of UAVs using the parameter space approach. Proceedings of the IEEE International Conference on Intelligent Robots and Systems. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2016. pp. 5632-5637
    @inproceedings{3676cd4733b14403b75652ec8b2d6466,
    title = "Robust control of UAVs using the parameter space approach",
    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.",
    keywords = "EWI-27575, IR-103140, METIS-320936",
    author = "Samer Abdelmoeti and Raffaella Carloni",
    note = "10.1109/IROS.2016.7759828",
    year = "2016",
    month = "10",
    doi = "10.1109/IROS.2016.7759828",
    language = "Undefined",
    publisher = "IEEE ROBOTICS AND AUTOMATION SOCIETY",
    pages = "5632--5637",
    booktitle = "Proceedings of the IEEE International Conference on Intelligent Robots and Systems",

    }

    Abdelmoeti, S & Carloni, R 2016, Robust control of UAVs using the parameter space approach. in Proceedings of the IEEE International Conference on Intelligent Robots and Systems. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 5632-5637, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759828

    Robust control of UAVs using the parameter space approach. / Abdelmoeti, Samer; Carloni, Raffaella.

    Proceedings of the IEEE International Conference on Intelligent Robots and Systems. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2016. p. 5632-5637.

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

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    Y1 - 2016/10

    N2 - 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.

    AB - 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.

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    BT - Proceedings of the IEEE International Conference on Intelligent Robots and Systems

    PB - IEEE ROBOTICS AND AUTOMATION SOCIETY

    CY - USA

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    Abdelmoeti S, Carloni R. Robust control of UAVs using the parameter space approach. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems. USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2016. p. 5632-5637 https://doi.org/10.1109/IROS.2016.7759828