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On Generalized Homogenization of Linear Quadrotor Controller

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 - UMR 9189
2 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : A novel scheme for an "upgrade" of a linear control algorithm to a non-linear one is developed based on the concepts of a generalized homogeneity and an implicit homogeneous feedback design. Some tuning rules for a guaranteed improvement of a regulation quality are proposed. Theoretical results are confirmed by real experiments with the quadrotor QDrone of Quanser T M .
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https://hal.inria.fr/hal-02877399
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Submitted on : Monday, June 22, 2020 - 12:34:58 PM
Last modification on : Friday, December 11, 2020 - 6:44:08 PM

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  • HAL Id : hal-02877399, version 1

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Siyuan Wang, Andrey Polyakov, Gang Zheng. On Generalized Homogenization of Linear Quadrotor Controller. IEEE International Conference on Robotics and Automation (ICRA)., May 2020, Paris, France. ⟨hal-02877399⟩

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