Robust control of UAVs using the parameter space approach

Samer Abdelmoeti; Raffaella Carloni

IROS 2016poster23 citations

Robust control of UAVs using the parameter space approach

Abstract

In this paper a robust PID controller for quadrotor unmanned aerial vehicles is proposed that uses the parameter space approach. Stability and robustness analyses are carried out in the controller parameter space to determine a set of stable controller gains that guarantee also robustness against system parameter uncertainties. Additionally, the trade-off between robustness and performance is included in the control gain choice. Experimental results validate the proposed approach, where the robust behavior of a quadrotor is shown for step response and path following.

BibTeX

@inproceedings{iros2016_robustcontrolofu,
  title = {Robust control of UAVs using the parameter space approach},
  author = {Samer Abdelmoeti and Raffaella Carloni},
  booktitle = {IROS 2016},
  year = {2016}
}