Simple adaptive control of quadrotor attitude. Algorithms and experimental results

Stanislav I. Tomashevich, Alexander L. Fradkov, Boris Andrievsky, Anderey O. Belyavskyi, Konstantin Amelin

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

10 Scopus citations

Abstract

In the paper the simple adaptive control approach is employed to designing the adaptive controllers of quadrotor angular motion. The adaptive controllers are synthesized based on the Implicit Reference Model (IRM) design technique. The 'shunting method' (parallel feedforward compensation) is used to cope with the unmodelled plant dynamics. Analytical justification of system stability is made by employing the Passification method. Quality of the closed-loop IRM adaptive control system is studied and compared with that of the proportionalderivative (PD) non-adaptive control system experimentally on two degrees of freedom (2DOF) quadrotor testbed and in-flight tests of the QuadRoy quadrotor for nominal and parametrically perturbed cases.

Original languageEnglish
Title of host publication2017 25th Mediterranean Conference on Control and Automation, MED 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages933-938
Number of pages6
ISBN (Electronic)9781509045334
DOIs
StatePublished - 18 Jul 2017
Event25th Mediterranean Conference on Control and Automation, MED 2017 - Valletta, Malta
Duration: 3 Jul 20176 Jul 2017

Publication series

NameMediterranean Conference on Control and Automation
PublisherIEEE
ISSN (Print)2325-369X

Conference

Conference25th Mediterranean Conference on Control and Automation, MED 2017
CountryMalta
CityValletta
Period3/07/176/07/17

Scopus subject areas

  • Control and Optimization
  • Modelling and Simulation

Keywords

  • OUTPUT-FEEDBACK CONTROL
  • MODEL HELICOPTER
  • NEURAL NETWORKS
  • MOBILE ROBOTS
  • SYSTEMS
  • ROBUST
  • PASSIFICATION
  • STABILIZATION
  • TRACKING
  • PLANTS

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