Output-based Robust Control for Quad-Rotor Tracking: An Attractive Ellipsoid Approach

Romeo Falcon, Hector Rios, Manuel Mera, Alejandro Dzul

Research output: Contribution to conferencePaper

Abstract

© 2018 IEEE. This paper deals with the tracking control problem for a Quad-Rotor in the presence of external disturbances and only by means of the measurable positions and angles. To this aims, a constructive output-based robust control is designed based on: 1) sliding-mode observation theory, for state estimation; and 2) the attractive ellipsoid method, for control design. The closed-loop robust stability is proven through Lyapunov methods. The synthesis of the robust output-based control is expressed in terms of Linear Matrix Inequalities. Simulation results illustrate the feasibility of the proposed approach.
Original languageAmerican English
DOIs
StatePublished - 12 Apr 2019
Externally publishedYes
Event2018 20th Congreso Mexicano de Robotica, COMRob 2018 -
Duration: 12 Apr 2019 → …

Conference

Conference2018 20th Congreso Mexicano de Robotica, COMRob 2018
Period12/04/19 → …

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  • Cite this

    Falcon, R., Rios, H., Mera, M., & Dzul, A. (2019). Output-based Robust Control for Quad-Rotor Tracking: An Attractive Ellipsoid Approach. Paper presented at 2018 20th Congreso Mexicano de Robotica, COMRob 2018, . https://doi.org/10.1109/COMROB.2018.8689123