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On Generalized Homogenization of Linear Quadrotor Controller

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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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Dates and versions

hal-02877399 , version 1 (22-06-2020)

Identifiers

  • HAL Id : hal-02877399 , version 1

Cite

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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