Position-heading quadrotor control using LPV techniques - Trapiello, Carlos; Puig, Vicenç; Morcego, Bernardo (IET control theory & applications, 2019)
Keywords: attitude control; attitude subsystem; Automàtica i control; autonomous aerial vehicles; cascade control; cascade control structure; control system synthesis; feedback; feedback linearisation approach; helicopters; Hummingbird unmanned aerial vehicle; Informàtica; inner attitude control loop; linear matrix inequalities; linear parameter; linear quadratic control; linear systems; linearisation techniques; LMI; LPV control; LPV representation; LPV techniques; LQR problem; nonlinear control systems; observers; optimal manner; outer position control loop; position control; position‐heading control problem; position‐heading quadrotor control; proportional–integral observer; quasi‐LPV–linear‐quadratic regulator controller; reference dynamic model; remotely operated vehicles; Research Article; Unmanned Aerial Vehicles (UAV); velocities controller; velocity control; Àrees temàtiques de la UPC; cascade control structure; proportional–integral observer; LPV representation; remotely operated vehicles; feedback; inner attitude control loop; LPV techniques; attitude subsystem; optimal manner; helicopters; LQR problem; quasi-LPV–linear-quadratic regulator controller; linear matrix inequalities; cascade control; attitude control; velocities controller; position control; outer position control loop; linearisation techniques; feedback linearisation approach; reference dynamic model; Hummingbird unmanned aerial vehicle; control system synthesis; LMI; linear systems; velocity control; autonomous aerial vehicles; linear parameter; nonlinear control systems; position-heading quadrotor control; position-heading control problem; observers; linear quadratic control