Synthesis of a robust linear structural feedback linearization scheme for an experimental quadrotor

Blas-Sánchez, Luis Ángel; Bonilla, M.; Salazar, Sergio; Malabre, Michel; Azhmyakov, Vadim

doi:10.23919/ecc.2019.8796174

Cited by 3 publications

(13 citation statements)

References 10 publications

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“…An interesting and important feature of the robust asymptotic feedback linearization scheme that we propose can be expressed as follows: it takes into account the non-modeled dynamics; see [5] for the theoretic and experimental results. Also, in [7] is presented a detailed synthesis procedure for an experimental quadrotor laboratory prototype, where some simulations are shown, as well as an experimental proof in open field.…”

Section: Simulation Resultsmentioning

confidence: 99%

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Robust structural feedback linearization based on the nonlinearities rejection

Bonilla

Blas-Sánchez

Azhmyakov

et al. 2020

Journal of the Franklin Institute

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In this paper, we consider a class of affine control systems and propose a new structural feedback linearization technique. This relatively simple approach involves a generic linear-type control scheme and follows the classic failure detection methodology. The robust linearization idea proposed in this contribution makes it possible an effective rejection of nonlinearities that belong to a specific class of functions. The nonlinearities under consideration are interpreted here as specific signals that affect the initially given systems dynamics. The implementability and efficiency of the proposed robust control methodology is illustrated via the attitude control of a PVTOL. AbstractIn this paper, we consider a class of affine control systems and propose a new structural feedback linearization technique. This relatively simple approach involves a generic linear-type control scheme and follows the classic failure detection methodology. The robust linearization idea proposed in this contribution makes it possible an effective rejection of nonlinearities that belong to a specific class of functions. The nonlinearities under consideration are interpreted here as specific signals that affect the initially given systems dynamics. The implementability and efficiency of the proposed robust control methodology is illustrated via the attitude control of a Planar Vertical Take Off Landing (PV-TOL) system. Notation. The following notation is used through this paper.• Script capitals V , W , . . . denote finite dimensional linear spaces with elements v, w, . . .. The expression V ≈ W stands for dim (V ) = dim (W ). Moreover, when V ⊂ W , W V or W /V stands for the quotient space W modulo V . Next, V κ denotes the Cartesian product V × · · · × V (κ times). By X : V → W , we denote a linear transformation operating from V to W . As usually, Im X = X V denotes the image of X and ker X is its kernel. Moreover, X −1 T stands for the inverse image of T ⊂ W . The special subspaces Im B and ker C are denoted by B, and K , respectively. The zero dimension subspace is indicated as 0 and σ {A} denotes the spectrum of the linear transformation A. The identity operator is denoted by I: Ix = x; A 0 is the identity operator, for any given linear transformation A. The matrix of a given linear transformation A : X → X in a given basis is noted as A ∈ R n×n . Additionally, for the elements v, w, . . . ∈

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Section: Simulation Resultsmentioning

confidence: 99%

“…We have used the LQR technique, with weighting matrices Q = I 2 and R = ρ (ρ = 5), because one can obtain a good closed-loop behavior by tuning only one parameter, ρ. In[7], we show some experimental results obtained in open field, and we give more details for a good selection of the weight matrix Q 12. Together with the stabilizing feedback (1.11).…”

mentioning

confidence: 99%

Robust structural feedback linearization based on the nonlinearities rejection

Bonilla

Blas-Sánchez

Azhmyakov

et al. 2020

Journal of the Franklin Institute

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“…The motion of the quadrotor is described with respect to a fixed orthogonal axis set (oxyz), where oz points vertically up along the gravity vector 0 0 −g T (earth axes). The origin o is located at a desired heightz with respect to the 1 Note that the matrix relating the vector inputs uz uy ux u ψ T with the square angular velocities vector…”

Section: A Mobile Robot Dynamical Modelmentioning

confidence: 99%

“…The coordinates x, y and z in (1) refer to the position of the centre of gravity of the quadrotor in the space where z is its altitude [5]. The time dependence of the variables in (1) and 2is not explicitly shown in order to lighten the notation. Note also that, due to the symmetry of the quadrotor, we have I x = I y = I.…”

Section: A Mobile Robot Dynamical Modelmentioning

confidence: 99%

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Communication-Aware Energy Efficient Trajectory Planning With Limited Channel Knowledge

et al. 2020

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Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular trajectory chosen by the robot to reach the goal point. In this context, we develop a method to generate optimum trajectories which allow the robot to reach the goal point using little mechanical energy while transmitting as much data as possible. This is done by optimizing the trajectory (path and velocity profile) so that the robot consumes less energy while also offering good wireless channel conditions. We consider a realistic wireless channel model as well as a realistic dynamic model for the mobile robot (considered here to be a drone). Simulations results illustrate the merits of the proposed method.

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Robust tracking scheme for an experimental quadrotor

Blas-Sánchez

Bonilla

Salazar

et al. 2021

2021 European Control Conference (ECC)

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Synthesis of a robust linear structural feedback linearization scheme for an experimental quadrotor

Cited by 3 publications

References 10 publications

Robust structural feedback linearization based on the nonlinearities rejection

Robust structural feedback linearization based on the nonlinearities rejection

Communication-Aware Energy Efficient Trajectory Planning With Limited Channel Knowledge

Robust tracking scheme for an experimental quadrotor

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