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Simple adaptive control of quadrotor attitude. Algorithms and experimental results. / Tomashevich, Stanislav I.; Fradkov, Alexander L.; Andrievsky, Boris; Belyavskyi, Anderey O.; Amelin, Konstantin.

2017 25th Mediterranean Conference on Control and Automation, MED 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 933-938 7984239 (Mediterranean Conference on Control and Automation).

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

Harvard

Tomashevich, SI, Fradkov, AL, Andrievsky, B, Belyavskyi, AO & Amelin, K 2017, Simple adaptive control of quadrotor attitude. Algorithms and experimental results. in 2017 25th Mediterranean Conference on Control and Automation, MED 2017., 7984239, Mediterranean Conference on Control and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 933-938, 25th Mediterranean Conference on Control and Automation, Valletta, Malta, 3/07/17. https://doi.org/10.1109/MED.2017.7984239

APA

Tomashevich, S. I., Fradkov, A. L., Andrievsky, B., Belyavskyi, A. O., & Amelin, K. (2017). Simple adaptive control of quadrotor attitude. Algorithms and experimental results. In 2017 25th Mediterranean Conference on Control and Automation, MED 2017 (pp. 933-938). [7984239] (Mediterranean Conference on Control and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2017.7984239

Vancouver

Tomashevich SI, Fradkov AL, Andrievsky B, Belyavskyi AO, Amelin K. Simple adaptive control of quadrotor attitude. Algorithms and experimental results. In 2017 25th Mediterranean Conference on Control and Automation, MED 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 933-938. 7984239. (Mediterranean Conference on Control and Automation). https://doi.org/10.1109/MED.2017.7984239

Author

Tomashevich, Stanislav I. ; Fradkov, Alexander L. ; Andrievsky, Boris ; Belyavskyi, Anderey O. ; Amelin, Konstantin. / Simple adaptive control of quadrotor attitude. Algorithms and experimental results. 2017 25th Mediterranean Conference on Control and Automation, MED 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 933-938 (Mediterranean Conference on Control and Automation).

BibTeX

@inproceedings{105a868cb07e4c919992c3b2a2411a7c,
title = "Simple adaptive control of quadrotor attitude. Algorithms and experimental results",
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.",
keywords = "OUTPUT-FEEDBACK CONTROL, MODEL HELICOPTER, NEURAL NETWORKS, MOBILE ROBOTS, SYSTEMS, ROBUST, PASSIFICATION, STABILIZATION, TRACKING, PLANTS",
author = "Tomashevich, {Stanislav I.} and Fradkov, {Alexander L.} and Boris Andrievsky and Belyavskyi, {Anderey O.} and Konstantin Amelin",
year = "2017",
month = jul,
day = "18",
doi = "10.1109/MED.2017.7984239",
language = "English",
series = "Mediterranean Conference on Control and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "933--938",
booktitle = "2017 25th Mediterranean Conference on Control and Automation, MED 2017",
address = "United States",
note = "25th Mediterranean Conference on Control and Automation, MED 2017 ; Conference date: 03-07-2017 Through 06-07-2017",

}

RIS

TY - GEN

T1 - Simple adaptive control of quadrotor attitude. Algorithms and experimental results

AU - Tomashevich, Stanislav I.

AU - Fradkov, Alexander L.

AU - Andrievsky, Boris

AU - Belyavskyi, Anderey O.

AU - Amelin, Konstantin

PY - 2017/7/18

Y1 - 2017/7/18

N2 - 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.

AB - 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.

KW - OUTPUT-FEEDBACK CONTROL

KW - MODEL HELICOPTER

KW - NEURAL NETWORKS

KW - MOBILE ROBOTS

KW - SYSTEMS

KW - ROBUST

KW - PASSIFICATION

KW - STABILIZATION

KW - TRACKING

KW - PLANTS

UR - http://www.scopus.com/inward/record.url?scp=85028512929&partnerID=8YFLogxK

U2 - 10.1109/MED.2017.7984239

DO - 10.1109/MED.2017.7984239

M3 - Conference contribution

AN - SCOPUS:85028512929

T3 - Mediterranean Conference on Control and Automation

SP - 933

EP - 938

BT - 2017 25th Mediterranean Conference on Control and Automation, MED 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 25th Mediterranean Conference on Control and Automation

Y2 - 3 July 2017 through 6 July 2017

ER -

ID: 37787612