Skip to Main content Skip to Navigation
Conference papers

Quadrotor Control Design under Time and State Constraints: Implicit Lyapunov Function Approach

Siyuan Wang 1 Andrey Polyakov 1 Gang Zheng 2
1 VALSE - Finite-time control and estimation for distributed systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : The problem of a state feedback design for control of a quadrotor system under state and time constraints is studied. Convex embedding approach and Implicit Lyapunov function are employed to design a finite-time controller. The feedback gain is solved by a system of LMIs(Linear Matrix Inequalities). Theoretical results are supported with numerical simulation.
Document type :
Conference papers
Complete list of metadatas

Cited literature [30 references]  Display  Hide  Download

https://hal.inria.fr/hal-02093641
Contributor : Andrey Polyakov <>
Submitted on : Tuesday, April 9, 2019 - 10:15:16 AM
Last modification on : Tuesday, September 29, 2020 - 12:24:15 PM

File

ECC19_0250_FI (2).pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02093641, version 1

Citation

Siyuan Wang, Andrey Polyakov, Gang Zheng. Quadrotor Control Design under Time and State Constraints: Implicit Lyapunov Function Approach. ECC'19 - European Control Conference, Jun 2019, Naples, Italy. ⟨hal-02093641⟩

Share

Metrics

Record views

183

Files downloads

396