Pham, H. and Ichalal, D. and Mammar, S. (2020) LPV Unknown Input Observer for Attitude of a mass-varying quadcopter. In: 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020, 13 December 2020 through 15 December 2020.
LPV Unknown Input Observer for Attitude of a mass-varying quadcopter.pdf
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Abstract
In this paper, a Linear Parameter Varying (LPV) Unknown Input Observer (UIO) design for the attitude subsystem of a mass-varying quadcopter is proposed by using algebraic matrix manipulation. First, the design of UIO for LPV systems is discussed. Then, by applying the design process of UIO for the general LPV system, an LPV UIO is designed for the attitude of a mass-varying quadcopter. Simulation results in Matlab are conducted for illustrating the promising results of the paper. © 2020 IEEE.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Divisions: | Faculties > Faculty of Physical and Chemical Engineering |
| Identification Number: | 10.1109/ICARCV50220.2020.9305468 |
| Uncontrolled Keywords: | Agricultural robots; Computer vision; MATLAB; Robotics; Design process; Linear parameter varying; LPV systems; Matrix manipulation; Unknown input observer; Drones |
| Additional Information: | Conference code: 166416. Language of original document: English. All Open Access, Green. |
| URI: | http://eprints.lqdtu.edu.vn/id/eprint/8840 |
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