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This paper presents a novel methodology for the design of motion controllers for UAV's of quad-rotor type. The developed controllers are of time switching type, where discrete modes are determined by the momentary availability of global positioning information. Relevant application scenarios are found, where the availability of GPS or generally GNSS is scarce, e.g. in case of indoor flight. For indoor...
In this paper we introduce an algorithm for the synthesis of polynomial Lyapunov functions for polynomial vector fields. The Lyapunov function is a continuous piecewisepolynomial defined on simplices, which compose a collection of simplices. The algorithm is elaborated and crucial features are explained in detail. The strengths and weaknesses of the algorithm are exemplified and a new way of sub-dividing...
We strive to prove stability of a hydraulic network, where the pressure at the end user is controlled with PI control. The non-polynomial model is represented by numerous polynomial systems defined on sub-sets of Rn. The sub-sets are defined by compact basic semi-algebraic sets. The stability of the PI-controller is proved by designing a Lyapunov function which fulfils different criteria in different...