Generalized homogenization of linear controllers: Theory and experiment

Siyuan Wang; Andrey Polyakov; Gang Zheng

doi:10.1002/rnc.5112

Generalized homogenization of linear controllers: Theory and experiment

Siyuan Wang
, Andrey Polyakov^*
, Gang Zheng

^*此作品的通讯作者

Institut national de recherche en informatique et en automatique
St. Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO)
Foshan University

科研成果: 期刊稿件 › 文章 › 同行评审

26 引用（Scopus）

摘要

A procedure for an “upgrade” of a linear proportional-integral-differential (PID) controller to a nonlinear homogeneous one is developed and verified by real experiments with quadrotor. The controller design is based on a generalized homogeneity (dilation symmetry) of the system. Its parameters are obtained from the gains of linear controller. The issues of digital implementation of the proposed controller are discussed. Finally, the stability and robustness properties of the homogeneous PID controller are validated on the quadrotor QDrone platform of Quanser^TM.

源语言	英语
页（从-至）	3455-3479
页数	25
期刊	International Journal of Robust and Nonlinear Control
卷	31
期	9
DOI	https://doi.org/10.1002/rnc.5112
出版状态	已出版 - 6月 2021
已对外发布	是

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abstract = "A procedure for an “upgrade” of a linear proportional-integral-differential (PID) controller to a nonlinear homogeneous one is developed and verified by real experiments with quadrotor. The controller design is based on a generalized homogeneity (dilation symmetry) of the system. Its parameters are obtained from the gains of linear controller. The issues of digital implementation of the proposed controller are discussed. Finally, the stability and robustness properties of the homogeneous PID controller are validated on the quadrotor QDrone platform of QuanserTM.",

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AB - A procedure for an “upgrade” of a linear proportional-integral-differential (PID) controller to a nonlinear homogeneous one is developed and verified by real experiments with quadrotor. The controller design is based on a generalized homogeneity (dilation symmetry) of the system. Its parameters are obtained from the gains of linear controller. The issues of digital implementation of the proposed controller are discussed. Finally, the stability and robustness properties of the homogeneous PID controller are validated on the quadrotor QDrone platform of QuanserTM.

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KW - robust

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Generalized homogenization of linear controllers: Theory and experiment

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