Sampled-data Controller Design with Application to the Quanser AERO 2-DOF Helicopter - Archive ouverte HAL
Communication Dans Un Congrès Année : 2020

Sampled-data Controller Design with Application to the Quanser AERO 2-DOF Helicopter

Résumé

This paper investigates the importance of considering the discrete-time nature of embedded controllers for continuous-time dynamical systems, namely the sampled-data control approach. To illustrate such approach, an experimental study is conducted with the Quanser ® AERO platform in its 2-DOF helicopter configuration. New LMI-based conditions are provided for the design of sampled-data controllers for linear systems. These are obtained from the usual Lyapunov-Krasovskii approach and useful bounding techniques. The results are validated in simulation as well as experimentally, with a successful comparison to conventional continuous-time controllers design by Quanser ® , especially when the sampling period is high.
Fichier principal
Vignette du fichier
Adriano_AQTR2020_final.pdf (853.15 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-02887602 , version 1 (22-08-2024)

Identifiants

Citer

Adriano N.D. Lopes, Laurent Arcèse, Kevin Guelton, Abdelmadjid Cherifi. Sampled-data Controller Design with Application to the Quanser AERO 2-DOF Helicopter. IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR), 2020, Cluj-Napoca, Romania. pp.1-6, ⟨10.1109/AQTR49680.2020.9129983⟩. ⟨hal-02887602⟩
64 Consultations
33 Téléchargements

Altmetric

Partager

More