Quadrotor Control Design under Time and State Constraints: Implicit Lyapunov Function Approach - Inria - Institut national de recherche en sciences et technologies du numérique
Communication Dans Un Congrès Année : 2019

Quadrotor Control Design under Time and State Constraints: Implicit Lyapunov Function Approach

Siyuan Wang
Finite-time control and estimation for distributed systems
CV
Andrey Polyakov
Finite-time control and estimation for distributed systems
CV
Gang Zheng
Deformable Robots Simulation Team

Résumé

The problem of a state feedback design for control of a quadrotor system under state and time constraints is studied. Convex embedding approach and Implicit Lyapunov function are employed to design a finite-time controller. The feedback gain is solved by a system of LMIs(Linear Matrix Inequalities). Theoretical results are supported with numerical simulation.

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Automatique
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https://inria.hal.science/hal-02093641

Soumis le : mardi 9 avril 2019-10:15:16

Dernière modification le : vendredi 31 mai 2024-18:32:03

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hal-02093641 , version 1 (09-04-2019)

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  • HAL Id : hal-02093641 , version 1

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Siyuan Wang, Andrey Polyakov, Gang Zheng. Quadrotor Control Design under Time and State Constraints: Implicit Lyapunov Function Approach. ECC'19 - European Control Conference, Jun 2019, Naples, Italy. ⟨hal-02093641⟩

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