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Generalized Homogenization of Linear Controllers: Theory and Experiment

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 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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https://hal.inria.fr/hal-02877410
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Submitted on : Monday, June 22, 2020 - 3:25:44 PM
Last modification on : Monday, December 14, 2020 - 6:11:05 PM

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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, Wiley, In press, ⟨10.1002/rnc.5112⟩. ⟨hal-02877410⟩

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