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dc.contributor.authorMinchala Avila, Luis Ismael
dc.date.accessioned2018-01-11T16:47:24Z-
dc.date.available2018-01-11T16:47:24Z-
dc.date.issued2016-03-01
dc.identifier.issn15480992
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84968756971&doi=10.1109%2fTLA.2016.7459596&partnerID=40&md5=420dd9fdded37e00ca758c343f2ba1b1
dc.identifier.urihttp://dspace.ucuenca.edu.ec/handle/123456789/29098-
dc.description.abstractThis paper presents the methodology of design of a nonlinear robust controller for attitude regulation and its implementation in an experimental platform of an unmanned aerial vehicle (UAV) quadrotor. Details on the kinematic and dynamic modeling based on the Euler-Lagrange formalism are provided, as well as the particulars of the design of a nonlinear robust H-infinity PID controller to regulate the rotational moments. The performance and effectiveness of the proposed controller are tested in a simulation and an experimental platform. The performance of the proposed controller is compared with a conventional PID controller by using the integral square error (ISE) as performance parameter. Experimental results help to demonstrate the correct operation of the system for real-time applications in the presence of unmodeled dynamics and the uncertainties of the parameters.
dc.language.isoen_US
dc.publisherIEEE COMPUTER SOCIETY
dc.sourceIEEE Latin America Transactions
dc.subjectAttitude Regulation
dc.subjectNonlinear System
dc.subjectQuadrotor
dc.subjectRobust Control
dc.subjectUav
dc.titleNonlinear Robust H-Infinity PID Controller for the Multivariable System Quadrotor
dc.typeArticle
dc.ucuenca.idautor0301453486
dc.identifier.doi10.1109/TLA.2016.7459596
dc.ucuenca.embargoend2022-01-01 0:00
dc.ucuenca.afiliacionminchala, l.i., departamento de ingenieriá eléctrica, electrónica y de telecomunicaciones de la universidad de cuenca, cuenca, ecuador
dc.ucuenca.volumen14
dc.ucuenca.indicebibliograficoSCOPUS
dc.ucuenca.factorimpacto0.247
dc.ucuenca.cuartilQ2
dc.ucuenca.numerocitaciones6
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