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Journal Articles International Journal of Robust and Nonlinear Control Year : 2020

Generalized Homogenization of Linear Controllers: Theory and Experiment

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Abstract

A procedure for an "upgrade" of a linear PID controller to a non-linear homogeneous one is developed and verified by real experiments with quadrotor. The controller design is based on a generalized homogeneity (dilation symmetry) of the system. Its parameters are obtained from the gains of linear controller. The issues of digital implementation of the proposed controller are discussed. Finally, the stability and robustness properties of the homogeneous PID controller are validated on the quadrotor QDrone platform of Quanser .
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Dates and versions

hal-02877410 , version 1 (22-06-2020)

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Siyuan Wang, Andrey Polyakov, Gang Zheng. Generalized Homogenization of Linear Controllers: Theory and Experiment. International Journal of Robust and Nonlinear Control, In press, ⟨10.1002/rnc.5112⟩. ⟨hal-02877410⟩
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