Generalized Proportional Integral Control for an Unmanned Quadrotor System

Fernández-Caballero, Antonio and Belmonte, Lidia María and Morales, Rafael and Somolinos Sánchez, José Andrés (2015). Generalized Proportional Integral Control for an Unmanned Quadrotor System. "International Journal of Advanced Robotic Systems", v. 12 (n. 7); pp. 1-14. ISSN 1729-8806. https://doi.org/10.5772/60833.

Description

Title: Generalized Proportional Integral Control for an Unmanned Quadrotor System
Author/s:
  • Fernández-Caballero, Antonio
  • Belmonte, Lidia María
  • Morales, Rafael
  • Somolinos Sánchez, José Andrés
Item Type: Article
Título de Revista/Publicación: International Journal of Advanced Robotic Systems
Date: July 2015
ISSN: 1729-8806
Volume: 12
Subjects:
Freetext Keywords: Unmanned Aerial Systems, Flatness Approach, Generalized Proportional Integral Control, Tracking Trajectory Planning
Faculty: E.T.S.I. Navales (UPM)
Department: Arquitectura, Construcción y Sistemas Oceánicos y Navales (Dacson)
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this article, a generalized proportional integral (GPI) control approach is presented for regulation and trajectory tracking problems in a nonlinear, multivariable quadrotor system model. In the feedback control law, no asymptotic observers or time discretizations are needed in the feedback loop. The GPI controller guarantees the asymptotically and exponentially stable behaviour of the controlled quadrotor position and orientation, as well as the possibilities of carrying out trajectory tracking tasks. The simulation results presented in the paper show that the proposed method exhibits very good stabilization and tracking performance in the presence of atmospheric disturbances and noise measurements.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2014-53499RUnspecifiedUnspecifiedControl de operaciones de dispositivos marinos de aprovechamiento de la energía hidrocinetica
Government of SpainTIN2013-47074-C2-1-RUnspecifiedUniversidad de Castilla-La ManchaInteligencia ambiental y robótica emocional para la mejora de la calidad de vida y cuidado del anciano mediante la regulación inteligente de emociones

More information

Item ID: 41364
DC Identifier: http://oa.upm.es/41364/
OAI Identifier: oai:oa.upm.es:41364
DOI: 10.5772/60833
Official URL: http://journals.sagepub.com/doi/abs/10.5772/60833
Deposited by: Memoria Investigacion
Deposited on: 29 Jun 2017 07:29
Last Modified: 11 May 2020 08:00
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