PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessRestricted access - publisher's policy
In this paper, a solution for the attitude/altitude tracking control problem is proposed for a quadrotor Un-manned Aerial Vehicle (UAV). The solution relies on the use of a reference model, where the resulting nonlinear error model is
brought to a quasi-Linear Parameter Varying (LPV) form using the embedding in the parameters approach. The quasi-LPV model is suitable for designing a controller using Linear Matrix Inequalities (LMI)-based techniques, such that the resulting closed-loop error system is stable with poles placed in some
desired region of the complex plane. Simulation results are used to show the effectiveness of the proposed approach. In particular, the quadrotor can reach asymptotically the reference trajectory for all the considered simulation runs.
CitationRotondo, D.; Nejjari, F.; Puig, V. Model reference quasi-LPV control of a quadrotor UAV. A: IEEE International Conference on Control Applications. "IEEE Multi-Conference on Systems and Control (MSC 2014), 8-10 octubre, Antibes (France)". Antibes: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 736-741.
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder. If you wish to make any use of the work not provided for in the law, please contact: email@example.com