Time-delay control of quadrotor unmanned aerial vehicles: a multiplicity-induced-dominancy-based approach

The current work exploits the effects of time-delays on stability unmanned aerial vehicles s). In this regard, main contribution is a symbolic/numeric application multiplicity-induced-dominancy property in control rotorcrafts featuring time-delays. considered to address two most representative robotic platforms: classical quadrotor vehicle and endowed with tilting rotors. aforementioned leads an effective delayed feedback design (multiplicity-induced-dominancy tuning criteria), allowing system meet prescribed behavior conditions based placement rightmost root corresponding closed-loop characteristic function/quasipolynomial. Lastly, results detailed numerical simulations, including linear non-linear dynamics vehicle, are presented discussed validate proposal.