ICRA 2020poster19 citations
On Generalized Homogenization of Linear Quadrotor Controller
Siyuan Wang, Andrey Polyakov, Gang Zheng
Abstract
A novel scheme for an "upgrade" of a linear control algorithm to a non-linear one is developed based on the concepts of a generalized homogeneity and an implicit homogeneous feedback design. Some tuning rules for a guaranteed improvement of a regulation quality are proposed. Theoretical results are confirmed by real experiments with the quadrotor QDrone of Quanser™.
BibTeX
@inproceedings{icra2020_ongeneralizedhom,
title = {On Generalized Homogenization of Linear Quadrotor Controller},
author = {Siyuan Wang and Andrey Polyakov and Gang Zheng},
booktitle = {ICRA 2020},
year = {2020}
}