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A Novel Parameter Varying Controller Synthesis Method for Quadrotor Control

Niel, Fabien and Ameho, Yann and Biannic, Jean-Marc and Defaÿ, François and Bérard, Caroline A Novel Parameter Varying Controller Synthesis Method for Quadrotor Control. (2013) In: AIAA Guidance, Navigation, and Control (GNC) Conference , 19 August 2013 - 22 August 2013 (Boston, United States).

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Official URL: http://dx.doi.org/10.2514/6.2013-4534

Abstract

This paper presents a method to design robust gain scheduled controller for parameter varying plants. The controller is to be used in an adaptive control architecture to obtain better performance than a robust controller for the control of multiple configuration of quadrotors. The proposed approach is based on the a priori selection of an interpolation formula. It takes advantage of recent advances in structured and multi-channel fixed-order Hinf synthesis to derive a low order controller with a meaningful structure. The resulting observer/state feedback controller remains easy to implement. The efficiency of the controller is demonstrated with its implementation on quadrotors UAV and the subsequent flight tests.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
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Deposited By: francois defay
Deposited On:13 Jan 2014 15:24

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