Open AccessGeneralized Proportional Integral Control for an Unmanned Quadrotor System
Author(s) -
Antonio FernándezCaballero,
Lidia M. Belmonte,
Rafael Morales,
J.A. Somolinos
Publication year - 2015
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/60833
Subject(s) - control theory (sociology) , trajectory , computer science , tracking (education) , multivariable calculus , controller (irrigation) , exponential stability , nonlinear system , position (finance) , noise (video) , orientation (vector space) , feedback control , control (management) , control engineering , mathematics , artificial intelligence , physics , engineering , image (mathematics) , psychology , pedagogy , agronomy , geometry , finance , astronomy , quantum mechanics , economics , biology
In this article, a generalized proportional integral (GPI) control approach is presented for regulation and trajectory tracking problems in a nonlinear, multivariable quadrotor system model. In the feedback control law, no asymptotic observers or time discretizations are needed in the feedback loop. The GPI controller guarantees the asymptotically and exponentially stable behaviour of the controlled quadrotor position and orientation, as well as the possibilities of carrying out trajectory tracking tasks. The simulation results presented in the paper show that the proposed method exhibits very good stabilization and tracking performance in the presence of atmospheric disturbances and noise measurements
Accelerating Research
Robert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom
Address
John Eccles HouseRobert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom