Full control of a quadrotor with simple adaptive control › Научные исследования в СПбГУ

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Full control of a quadrotor with simple adaptive control. / Tomashevich, S. I.; Andrievsky, B. R.

в: Differencialnie Uravnenia i Protsesy Upravlenia, № 3, 25.09.2020, стр. 41-58.

Результаты исследований: Научные публикации в периодических изданиях › статья › Рецензирование

Harvard

Tomashevich, SI & Andrievsky, BR 2020, 'Full control of a quadrotor with simple adaptive control', Differencialnie Uravnenia i Protsesy Upravlenia, № 3, стр. 41-58.

APA

Tomashevich, S. I., & Andrievsky, B. R. (2020). Full control of a quadrotor with simple adaptive control. Differencialnie Uravnenia i Protsesy Upravlenia, (3), 41-58.

Vancouver

Tomashevich SI, Andrievsky BR. Full control of a quadrotor with simple adaptive control. Differencialnie Uravnenia i Protsesy Upravlenia. 2020 Сент. 25;(3):41-58.

Author

Tomashevich, S. I. ; Andrievsky, B. R. / Full control of a quadrotor with simple adaptive control. в: Differencialnie Uravnenia i Protsesy Upravlenia. 2020 ; № 3. стр. 41-58.

BibTeX

@article{85940c6c37144158b6b83fe258e1735d,

title = "Full control of a quadrotor with simple adaptive control",

abstract = "In the paper the Simple Adaptive Control approach is employed to design the adaptive controllers for controlling both angular and translational motion. The adaptive controllers are synthesized based on the Implicit Reference Model (IRM) design technique. The {"}shunting method{"} (parallel feedforward compensation) is used to mitigate the relative degree restriction. Parametric feedback is used to prevent the increasing of controller coefficients caused by external disturbances or sensor noise. Quality of the closed-loop IRM adaptive control system is studied based on the series of simulations for ensuring the system stability and tracking cases.",

keywords = "Cyber-physical system, Passification, Quadrotor, Simple adaptive control, квадротор, простое адаптивное управление, пассификация, киберфизические системы",

author = "Tomashevich, {S. I.} and Andrievsky, {B. R.}",

year = "2020",

month = sep,

day = "25",

language = "English",

pages = "41--58",

journal = "ДИФФЕРЕНЦИАЛЬНЫЕ УРАВНЕНИЯ И ПРОЦЕССЫ УПРАВЛЕНИЯ",

issn = "1817-2172",

publisher = "Электронный журнал {"}Дифференциальные уравнения и процессы управления{"}",

number = "3",

}

RIS

TY - JOUR

T1 - Full control of a quadrotor with simple adaptive control

AU - Tomashevich, S. I.

AU - Andrievsky, B. R.

PY - 2020/9/25

Y1 - 2020/9/25

N2 - In the paper the Simple Adaptive Control approach is employed to design the adaptive controllers for controlling both angular and translational motion. The adaptive controllers are synthesized based on the Implicit Reference Model (IRM) design technique. The "shunting method" (parallel feedforward compensation) is used to mitigate the relative degree restriction. Parametric feedback is used to prevent the increasing of controller coefficients caused by external disturbances or sensor noise. Quality of the closed-loop IRM adaptive control system is studied based on the series of simulations for ensuring the system stability and tracking cases.

AB - In the paper the Simple Adaptive Control approach is employed to design the adaptive controllers for controlling both angular and translational motion. The adaptive controllers are synthesized based on the Implicit Reference Model (IRM) design technique. The "shunting method" (parallel feedforward compensation) is used to mitigate the relative degree restriction. Parametric feedback is used to prevent the increasing of controller coefficients caused by external disturbances or sensor noise. Quality of the closed-loop IRM adaptive control system is studied based on the series of simulations for ensuring the system stability and tracking cases.

KW - Cyber-physical system

KW - Passification

KW - Quadrotor

KW - Simple adaptive control

KW - квадротор, простое адаптивное управление, пассификация, киберфизические системы

UR - http://www.scopus.com/inward/record.url?scp=85096571594&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:85096571594

SP - 41

EP - 58

JO - ДИФФЕРЕНЦИАЛЬНЫЕ УРАВНЕНИЯ И ПРОЦЕССЫ УПРАВЛЕНИЯ

JF - ДИФФЕРЕНЦИАЛЬНЫЕ УРАВНЕНИЯ И ПРОЦЕССЫ УПРАВЛЕНИЯ

SN - 1817-2172

IS - 3

ER -

ID: 86552506