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Passification based simple adaptive control of quadrotor attitude : Algorithms and testbed results. / Tomashevich, Stanislav; Belyavskyi, Andrey; Andrievsky, Boris.

ICNPAA 2016 World Congress: 11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences. ed. / Seenith Sivasundaram. American Institute of Physics, 2017. 020161 (AIP Conference Proceedings; Vol. 1798).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Harvard

Tomashevich, S, Belyavskyi, A & Andrievsky, B 2017, Passification based simple adaptive control of quadrotor attitude: Algorithms and testbed results. in S Sivasundaram (ed.), ICNPAA 2016 World Congress: 11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences., 020161, AIP Conference Proceedings, vol. 1798, American Institute of Physics, 11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2016, La Rochelle, France, 4/07/16. https://doi.org/10.1063/1.4972753

APA

Tomashevich, S., Belyavskyi, A., & Andrievsky, B. (2017). Passification based simple adaptive control of quadrotor attitude: Algorithms and testbed results. In S. Sivasundaram (Ed.), ICNPAA 2016 World Congress: 11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences [020161] (AIP Conference Proceedings; Vol. 1798). American Institute of Physics. https://doi.org/10.1063/1.4972753

Vancouver

Tomashevich S, Belyavskyi A, Andrievsky B. Passification based simple adaptive control of quadrotor attitude: Algorithms and testbed results. In Sivasundaram S, editor, ICNPAA 2016 World Congress: 11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences. American Institute of Physics. 2017. 020161. (AIP Conference Proceedings). https://doi.org/10.1063/1.4972753

Author

Tomashevich, Stanislav ; Belyavskyi, Andrey ; Andrievsky, Boris. / Passification based simple adaptive control of quadrotor attitude : Algorithms and testbed results. ICNPAA 2016 World Congress: 11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences. editor / Seenith Sivasundaram. American Institute of Physics, 2017. (AIP Conference Proceedings).

BibTeX

@inproceedings{26bf0dc9b7c54dea81f0e5d6ff515c99,
title = "Passification based simple adaptive control of quadrotor attitude: Algorithms and testbed results",
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.",
author = "Stanislav Tomashevich and Andrey Belyavskyi and Boris Andrievsky",
year = "2017",
month = jan,
day = "27",
doi = "10.1063/1.4972753",
language = "English",
series = "AIP Conference Proceedings",
publisher = "American Institute of Physics",
editor = "Seenith Sivasundaram",
booktitle = "ICNPAA 2016 World Congress",
address = "United States",
note = "11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2016 ; Conference date: 04-07-2016 Through 08-07-2016",

}

RIS

TY - GEN

T1 - Passification based simple adaptive control of quadrotor attitude

T2 - 11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2016

AU - Tomashevich, Stanislav

AU - Belyavskyi, Andrey

AU - Andrievsky, Boris

PY - 2017/1/27

Y1 - 2017/1/27

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85013636614&partnerID=8YFLogxK

U2 - 10.1063/1.4972753

DO - 10.1063/1.4972753

M3 - Conference contribution

AN - SCOPUS:85013636614

T3 - AIP Conference Proceedings

BT - ICNPAA 2016 World Congress

A2 - Sivasundaram, Seenith

PB - American Institute of Physics

Y2 - 4 July 2016 through 8 July 2016

ER -

ID: 41250536