Abstract:
Four equilibria of a nonlinear quadrotor model are considered as a problem for simultaneous stabilization. Linearizations at these equilibria represent the operating mode...View moreMetadata
Abstract:
Four equilibria of a nonlinear quadrotor model are considered as a problem for simultaneous stabilization. Linearizations at these equilibria represent the operating modes corresponding to hover, vertical translation with any constant velocity, and horizontal translations with either any constant roll angle tilt or any constant pitch angle tilt. The linearizations at hover and vertical translation give rise to linear time-invariant systems to be stabilized. Each setting of constant roll angle or pitch angle gives rise to a different linear time-invariant system to be stabilized. Any finite number of such systems are shown be simultaneously stabilizable by simple, low-order and decentralized controllers with integral-action. Synthesis procedure for such controllers is described.
Published in: 52nd IEEE Conference on Decision and Control
Date of Conference: 10-13 December 2013
Date Added to IEEE Xplore: 10 March 2014
ISBN Information:
Print ISSN: 0191-2216