Robust control of UAVs using the parameter space approach

Samer Abdelmoeti; Raffaella Carloni

doi:10.1109/IROS.2016.7759828

Robust control of UAVs using the parameter space approach

Samer Abdelmoeti, Raffaella Carloni

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

18 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 language	Undefined
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	https://doi.org/10.1109/IROS.2016.7759828
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
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
Abbreviated title	IROS
Country/Territory	Korea, Republic of
City	Daejeon
Period	9/10/16 → 14/10/16
Internet address	http://www.iros2016.org/

Keywords

EWI-27575
IR-103140
METIS-320936

Access to Document

10.1109/IROS.2016.7759828

Cite this

@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 ; 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016",

year = "2016",

month = oct,

doi = "10.1109/IROS.2016.7759828",

language = "Undefined",

publisher = "IEEE",

pages = "5632--5637",

booktitle = "Proceedings of the IEEE International Conference on Intelligent Robots and Systems",

address = "United States",

url = "http://www.iros2016.org/",

}

TY - GEN

T1 - Robust control of UAVs using the parameter space approach

AU - Abdelmoeti, Samer

AU - Carloni, Raffaella

N1 - 10.1109/IROS.2016.7759828

PY - 2016/10

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.

KW - EWI-27575

KW - IR-103140

KW - METIS-320936

U2 - 10.1109/IROS.2016.7759828

DO - 10.1109/IROS.2016.7759828

M3 - Conference contribution

SP - 5632

EP - 5637

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

PB - IEEE

CY - USA

T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016

Y2 - 9 October 2016 through 14 October 2016

ER -