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Generalized homogenization of linear controllers: Theory and experiment
Author(s) -
Wang Siyuan,
Polyakov Andrey,
Zheng Gang
Publication year - 2021
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.5112
Subject(s) - control theory (sociology) , pid controller , nonlinear system , homogeneity (statistics) , robustness (evolution) , homogeneous , homogenization (climate) , upgrade , linear system , computer science , mathematics , control engineering , engineering , physics , mathematical analysis , temperature control , artificial intelligence , machine learning , combinatorics , gene , biodiversity , ecology , chemistry , biology , operating system , biochemistry , control (management) , quantum mechanics
Summary A procedure for an “upgrade” of a linear proportional‐integral‐differential (PID) controller to a nonlinear 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 TM .