Passification based simple adaptive control of quadrotor attitude: Algorithms and testbed results

Stanislav Tomashevich, Andrey Belyavskyi, Boris Andrievsky

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

8 Цитирования (Scopus)

Аннотация

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.

Язык оригиналаанглийский
Название основной публикацииICNPAA 2016 World Congress
Подзаголовок основной публикации11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences
РедакторыSeenith Sivasundaram
ИздательAmerican Institute of Physics
ISBN (электронное издание)9780735414648
DOI
СостояниеОпубликовано - 27 янв 2017
Событие11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2016 - La Rochelle, Франция
Продолжительность: 4 июл 20168 июл 2016

Серия публикаций

НазваниеAIP Conference Proceedings
Том1798
ISSN (печатное издание)0094-243X
ISSN (электронное издание)1551-7616

конференция

конференция11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2016
СтранаФранция
ГородLa Rochelle
Период4/07/168/07/16

Предметные области Scopus

  • Физика и астрономия (все)

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