Adaptive control of quadrotors spatial motion in formation with implicit reference model

Stanislav Tomashevich, Boris Andrievsky

Результат исследований: Публикации в книгах, отчётах, сборниках, трудах конференцийстатья в сборнике материалов конференциирецензирование

1 Цитирования (Scopus)

Аннотация

In the paper the quadrotor spatial motion adaptive control based on the passification method is considered. It is assumed that adaptive controller for quadrotor attitude is already designed and the attention is focused on the quadrotor spatial motion control. Problem of quadrotor group motion in the formation with adaptive positioning controller is studied in the details. This approach seems to be also high efficient for parameter variations, which may take place during long-range quadrotor flight. It is shown that after a certain transformation of quadrotor dynamics, the transfer function from auxiliary control inputs to quadrotor spatial coordinates posses the hyper-minimum-phase (HMP) property. In this case, the passification-based technique could be applied for adaptive controls design. The proposed technique allows to use decentralized cooperative control. Application of the proposed adaptive control is studied in the details by the intensive computer simulations.

Язык оригиналаанглийский
Название основной публикацииICNPAA 2018 World Congress
Подзаголовок основной публикации12th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences
РедакторыSeenith Sivasundaram
ИздательAmerican Institute of Physics
ISBN (электронное издание)9780735417724
DOI
СостояниеОпубликовано - 4 дек 2018
Событие12th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2018 - Yerevan, Армения
Продолжительность: 3 июл 20186 июл 2018

Серия публикаций

НазваниеAIP Conference Proceedings
Том2046
ISSN (печатное издание)0094-243X
ISSN (электронное издание)1551-7616

конференция

конференция12th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2018
СтранаАрмения
ГородYerevan
Период3/07/186/07/18

Предметные области Scopus

  • Физика и астрономия (все)

Fingerprint

Подробные сведения о темах исследования «Adaptive control of quadrotors spatial motion in formation with implicit reference model». Вместе они формируют уникальный семантический отпечаток (fingerprint).

Цитировать