Robust control for an off-centered quadrotor

Abstract : The development of quadrotor unmanned aerial vehicles -UAVs- in potential civil applications is conditioned by the embedded elements such as removable payload, miniature actuators, sensors and power storage. As simple as the structure of the quarotor is, the dynamic behavior is complex. The paper details a model of a quadrotor which considers the effects of the location of the center of gravity and the gyroscopic torques due to the derivative of the speed propellers. A simple control law in order to regulate the angular velocities and to track angular references is designed. Time domain constraints and parameters which belong to a polytope define the basis of the regulator synthesis. The relevance of the study is fulfilled thanks to numerical simulations and experimental plateform is presented.
Type de document :
Communication dans un congrès
19th Mediterranean Conference on Control & Automation (MED), Jun 2011, Corfu, Greece. 2011, 〈http://ieeexplore.ieee.org/document/5983171/〉. 〈10.1109/MED.2011.5983171〉
Liste complète des métadonnées

Littérature citée [14 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-00830136
Contributeur : Thibaut Raharijaona <>
Soumis le : mardi 4 juin 2013 - 17:15:44
Dernière modification le : mercredi 27 septembre 2017 - 15:54:45
Document(s) archivé(s) le : jeudi 5 septembre 2013 - 04:22:32

Fichier

off_centered_quadrotor_med11.p...
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

Thibaut Raharijaoana, François Bateman. Robust control for an off-centered quadrotor. 19th Mediterranean Conference on Control & Automation (MED), Jun 2011, Corfu, Greece. 2011, 〈http://ieeexplore.ieee.org/document/5983171/〉. 〈10.1109/MED.2011.5983171〉. 〈hal-00830136〉

Partager

Métriques

Consultations de
la notice

205

Téléchargements du document

393