Generalized homogenization of linear controllers: Theory and experiment
Siyuan Wang, Andrey Polyakov, Gang Zheng
Abstract
Summary 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 .
Topics & Concepts
Control theory (sociology)PID controllerNonlinear systemHomogeneity (statistics)Robustness (evolution)HomogeneousHomogenization (climate)UpgradeLinear systemComputer scienceControl engineeringMathematicsEngineeringPhysicsMathematical analysisTemperature controlArtificial intelligenceControl (management)Operating systemChemistryBiologyBiodiversityQuantum mechanicsEcologyGeneBiochemistryCombinatoricsMachine learningAdaptive Control of Nonlinear SystemsControl and Stability of Dynamical SystemsAdvanced Control Systems Design