会议室：腾讯会议室ID：115 976 096；密码：202001
报告题目：Homogeneous quadrotor control: Theory and Experiment
A procedure for an “upgrade” of a linear PID controller to a non-linear 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.
Siyuan Wang received the B.S. degree in Mathematics and Applied Mathematics from École centrale de Pékin, Beijing, China, in 2014, the M.S. degree in Mechatronic from Universitélibre de Bruxelles, Bruxelles, Belgium, in 2017, and the Ph.D. degree from Inria Lille-Nord Europe, Lille, France, in 2020 . He is currently a postdoc at INSA, France. His main research interest includes: Homogeneous system control, estimation and optimization.