Robust control of quadrotors by means of linear matrix inequalities

• Grant number: 14/11593-5
• Support Opportunities: Scholarships in Brazil - Master
• Start date: October 01, 2014
• End date: September 30, 2016
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Ricardo Coração de Leão Fontoura de Oliveira
• Grantee: Marciano Prates Salbego
• Host Institution: Faculdade de Engenharia Elétrica e de Computação (FEEC). Universidade Estadual de Campinas (UNICAMP). Campinas , SP, Brazil

Abstract

This project aims to investigate more efficient robust control techniques with the purposeof controlling quadrotors, that are Vertical Taking-off and Landing (VTOL) vehicles. The mainlines of investigation rely on the achievement of more accurate state space models in discrete-time by means of recent discretization techniques of continuous-time models affected by polytopicuncertainties. Performance requirements based on pole location and treatment of saturating control signals will be also investigated. The methodology to be employed in the development of the project is based on linear matrix inequalities, resulting in convex optimization problems with greatapplicability in robust control design and that can be solved by a large set of numerical tools available.

Academic Publications

(References retrieved automatically from State of São Paulo Research Institutions)

SALBEGO, Marciano Prates. Robust control of quadcopters by means of linear matrix inequalities. 2017. Master's Dissertation - Universidade Estadual de Campinas (UNICAMP). Faculdade de Engenharia Elétrica e de Computação Campinas, SP.