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Homogeneous quadrator control : theory and experiment

Abstract : In the past several decades, quadrotor control problems attract more attentions of the researcher comparing withother flying vehicles. However, most of the commercial products still use linear PID controller, which provides sufficientlygood performance. Development of a controller, which would convince theindustry to use it instead of linear PID, is still a challenge. The aim of this thesis is to show that homogeneous controller is a possiblealternative to linear one. For this purpose, a new methodof upgrading linear algorithm to homogeneous one is proposed. It uses the gains of linear controller/observer provided by the manufacturer for tuning of homogeneous algorithm. The experimental results support the theoretical developments and confirm a significant improvement of quadrotor’s control quality:better precision, more robustness and faster response.
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Submitted on : Thursday, June 3, 2021 - 9:47:13 AM
Last modification on : Wednesday, September 7, 2022 - 8:14:05 AM
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  • HAL Id : tel-03247401, version 1

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Siyuan Wang. Homogeneous quadrator control : theory and experiment. Automatic. Centrale Lille Institut, 2020. English. ⟨NNT : 2020CLIL0026⟩. ⟨tel-03247401⟩

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