This works deals with the problem to stabilize a Quad rotor-UAV in presence of time-delay and disturbances. The proposed controller is based on the reduction approach, i.e. the system transformation into one without delay which might be stabilized using a regular controller. Mathematical induction method allows to develop a new transformation based on the fundamental theorem of calculus. A closed-loop stability analysis based on Lyapunov theory is address to prove the feasibility of the controller. The proposed technique is applied to an experimental platform with 4 DOF (degrees of freedom) specifically designed to bring a secure and easy way to tune and test experimental controllers.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Quad rotor-UAV stabilization by predictor based control


    Beteiligte:
    Ordaz, Jairo (Autor:in) / Salazar, Sergio (Autor:in) / Mondie, Sabine (Autor:in) / Lozano, Rogelio (Autor:in)


    Erscheinungsdatum :

    2017-06-01


    Format / Umfang :

    428891 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Hover Stabilization of a Quad‐Rotor Using a Single Camera

    Romero, Hugo / Salazar, Sergio | Wiley | 2013


    Improving Attitude Stabilization of a Quad‐Rotor Using Motor Current Feedback

    Sanchez, Anand / Garcia‐Carrillo, Luis / Rondon, Eduardo et al. | Wiley | 2013


    Vision-Based Control of a Quad-Rotor UAV

    García Carrillo, Luis Rodolfo / Dzul López, Alejandro Enrique / Lozano, Rogelio et al. | Springer Verlag | 2013


    Retractable folding quad rotor

    LI BOCHEN / WANG HONGZHOU / XU XINGGUO et al. | Europäisches Patentamt | 2015

    Freier Zugriff

    The Quad-rotor Rotorcraft

    Castillo, Pedro / Lozano, Rogelio / Dzul, Alejandro E. | Springer Verlag | 2005