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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Quad rotor-UAV stabilization by predictor based control


    Contributors:


    Publication date :

    2017-06-01


    Size :

    428891 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    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. | European Patent Office | 2015

    Free access

    The Quad-rotor Rotorcraft

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