Passification based simple adaptive control of quadrotor attitude: Algorithms and testbed results

Stanislav Tomashevich, Andrey Belyavskyi, Boris Andrievsky

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Scopus citations

Abstract

In the paper, the results of the Passification Method with the Implicit Reference Model (IRM) approach are applied for designing the simple adaptive controller for quadrotor attitude. The IRM design technique makes it possible to relax the matching condition, known for habitual MRAC systems, and leads to simple adaptive controllers, ensuring fast tuning the controller gains, high robustness with respect to nonlinearities in the control loop, to the external disturbances and the unmodeled plant dynamics. For experimental evaluation of the adaptive systems performance, the 2DOF laboratory setup has been created. The testbed allows to safely test new control algorithms in the laboratory area with a small space and promptly make changes in cases of failure. The testing results of simple adaptive control of quadrotor attitude are presented, demonstrating efficacy of the applied simple adaptive control method. The experiments demonstrate good performance quality and high adaptation rate of the simple adaptive control system.

Original languageEnglish
Title of host publicationICNPAA 2016 World Congress
Subtitle of host publication11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences
EditorsSeenith Sivasundaram
PublisherAmerican Institute of Physics
ISBN (Electronic)9780735414648
DOIs
StatePublished - 27 Jan 2017
Event11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2016 - La Rochelle, France
Duration: 4 Jul 20168 Jul 2016

Publication series

NameAIP Conference Proceedings
Volume1798
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Conference

Conference11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2016
CountryFrance
CityLa Rochelle
Period4/07/168/07/16

Scopus subject areas

  • Physics and Astronomy(all)

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