A predictor tuning by root multiplicity-induced dominance for position control of a quadrotor

https://doi.org/10.58571/CNCA.AMCA.2022.059

Resumen: This article introduces an observer-predictor that estimates the position of a quadrotor with input delay. The predictor whose aim is to compensate the delay, is tuned using multiplicity-induced dominance of the roots of the linearized prediction error. The stability of the prediction error is analyzed using a Lyapunov-Krasovskii functional. Simulation results of the quadrotor in closed-loop with a control law feed with the predicted states are presented.

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Rojas-Ricca, B., Castaños, F. & Mondié, S. A predictor tuning by root multiplicity-induced dominance for position control of a quadrotor. Memorias del Congreso Nacional de Control Automático, pp. 244-249, 2022. https://doi.org/10.58571/CNCA.AMCA.2022.059

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Control de Sistemas No Lineales

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