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Experimental Constrained Optimal Attitude Control of a Quadrotor subject to Wind Disturbances
Swiss Federal Institute of Technology.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
University of Patras.
2014 (English)In: International Journal of Control, ISSN 0020-7179, E-ISSN 1366-5820, Vol. 12, no 6, p. 1289-1302Article in journal (Refereed) Published
Abstract [en]

The design and experimental verification of a Constrained Finite Time Optimal Controller (CFTOC) for attitude maneuvers of an Unmanned Quadrotor operating under severe wind conditions is the subject of this article. The quadrotor’s nonlinear dynamics are linearized in various operating points resulting in a set of piecewise affine models. The CFTO–controller is designed for set-point maneuvers taking into account the switching between the linear models and the state and actuation constraints. The control scheme is applied on experimental studies on a prototype quadrotor operating both in absence and under presence of forcible atmospheric disturbances. Extended experimental results indicate that the proposed control approach attenuates the effects of induced wind–gusts while performing accurate attitude set–point maneuvers.

Place, publisher, year, edition, pages
2014. Vol. 12, no 6, p. 1289-1302
Keywords [en]
Information technology - Automatic control
Keywords [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-16235DOI: 10.1007/s12555-013-0290-7ISI: 000345394600017Scopus ID: 2-s2.0-84919435323Local ID: fd88ef1b-e0af-4af8-b897-8924a429fba6OAI: oai:DiVA.org:ltu-16235DiVA, id: diva2:989211
Note
Validerad; 2014; 20140411 (geonik)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2018-07-10Bibliographically approved

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Nikolakopoulos, George

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf