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Predictor-Based Control of a Class of Time-Delay Systems and its Application to Quadrotors

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Predictor-Based Control of a Class of Time-Delay Systems and its Application to Quadrotors

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dc.contributor.author Sanz Díaz, Ricardo es_ES
dc.contributor.author García Gil, Pedro José es_ES
dc.contributor.author Zhong, Qing-Chang es_ES
dc.contributor.author Albertos Pérez, Pedro es_ES
dc.date.accessioned 2017-04-06T08:41:06Z
dc.date.available 2017-04-06T08:41:06Z
dc.date.issued 2017-01
dc.identifier.issn 0278-0046
dc.identifier.uri http://hdl.handle.net/10251/79511
dc.description (c) 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. es_ES
dc.description.abstract In this paper, a new robust control strategy based on a predictor and the uncertainty and disturbance estimator is developed for a class of uncertain nonlinear systems with input/output delays. The closed-loop system is analyzed and sufficient stability conditions are derived based on Lyapunov analysis. The proposed strategy is applied to the particular case of quadrotor systems and validated through extensive simulations to evaluate performance and robustness. The controller is also implemented in a quadrotor prototype and validated in flight tests. es_ES
dc.description.sponsorship This work was supported by the PROMETEOII/2013/004, Conselleria d'Educacio, Generalitat Valenciana, and TIN2014-56158-C4-4-P-AR, Ministerio de Economia y Competitividad, Spain. en_EN
dc.language Inglés es_ES
dc.publisher Institute of Electrical and Electronics Engineers (IEEE) es_ES
dc.relation.ispartof IEEE Transactions on Industrial Electronics es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Nonlinear systems es_ES
dc.subject prediction es_ES
dc.subject quadrotor es_ES
dc.subject robust control es_ES
dc.subject time-delay es_ES
dc.subject uncertainty and disturbance estimator (UDE) es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Predictor-Based Control of a Class of Time-Delay Systems and its Application to Quadrotors es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1109/TIE.2016.2609378
dc.relation.projectID info:eu-repo/grantAgreement/GVA//PROMETEOII%2F2013%2F004/ES/DISEÑO DE SISTEMAS DE CONTROL MULTIVARIABLE (DISICOM)/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MINECO//TIN2014-56158-C4-4-P/ES/CODISEÑO DE SISTEMAS DE CONTROL CON CRITICIDAD MIXTA BASADO EN MISIONES/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Técnica Superior de Ingenieros Industriales - Escola Tècnica Superior d'Enginyers Industrials es_ES
dc.description.bibliographicCitation Sanz Díaz, R.; García Gil, PJ.; Zhong, Q.; Albertos Pérez, P. (2017). Predictor-Based Control of a Class of Time-Delay Systems and its Application to Quadrotors. IEEE Transactions on Industrial Electronics. 64(1):459-469. https://doi.org/10.1109/TIE.2016.2609378 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://dx.doi.org/10.1109/TIE.2016.2609378 es_ES
dc.description.upvformatpinicio 459 es_ES
dc.description.upvformatpfin 469 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 64 es_ES
dc.description.issue 1 es_ES
dc.relation.senia 319261 es_ES
dc.identifier.eissn 1557-9948
dc.contributor.funder Ministerio de Economía y Competitividad es_ES
dc.contributor.funder Generalitat Valenciana es_ES


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