Schreier, Matthias (2012)
Modeling and Adaptive Control of a Quadrotor.
IEEE International Conference on Mechatronics and Automation. Chengdu, China (05.08.2012-08.08.2012)
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
In this paper, we propose two variants of adaptive state space controllers for attitude stabilization and self-tuning of a four-rotor aerial robot, a quadrotor. First of all, the use of a Model Identification Adaptive Controller (MIAC) is proposed in terms of combining a recursive least-squares estimator with exponential forgetting with an integral discrete-time state space controller. Furthermore, a continuous-time Model Reference Adaptive Control (MRAC) scheme based on Lyapunov theory is applied to the simplified dynamics of a quadrotor, which guarantees global asymptotic stability for at least linear overall systems. The effectiveness of the suggested adaptive methods is demonstrated in simulations with a quaternion-based nonlinear dynamic model of a quadrotor derived in this work. The results are compared to a designed nonadaptive integral state space controller.
| Typ des Eintrags: | Konferenzveröffentlichung | ||||
|---|---|---|---|---|---|
| Erschienen: | 2012 | ||||
| Autor(en): | Schreier, Matthias | ||||
| Art des Eintrags: | Bibliographie | ||||
| Titel: | Modeling and Adaptive Control of a Quadrotor | ||||
| Sprache: | Englisch | ||||
| Publikationsjahr: | 6 August 2012 | ||||
| Ort: | Chengdu, China | ||||
| Buchtitel: | Proceedings of the IEEE International Conference on Mechatronics and Automation | ||||
| Veranstaltungstitel: | IEEE International Conference on Mechatronics and Automation | ||||
| Veranstaltungsort: | Chengdu, China | ||||
| Veranstaltungsdatum: | 05.08.2012-08.08.2012 | ||||
| Kurzbeschreibung (Abstract): | In this paper, we propose two variants of adaptive state space controllers for attitude stabilization and self-tuning of a four-rotor aerial robot, a quadrotor. First of all, the use of a Model Identification Adaptive Controller (MIAC) is proposed in terms of combining a recursive least-squares estimator with exponential forgetting with an integral discrete-time state space controller. Furthermore, a continuous-time Model Reference Adaptive Control (MRAC) scheme based on Lyapunov theory is applied to the simplified dynamics of a quadrotor, which guarantees global asymptotic stability for at least linear overall systems. The effectiveness of the suggested adaptive methods is demonstrated in simulations with a quaternion-based nonlinear dynamic model of a quadrotor derived in this work. The results are compared to a designed nonadaptive integral state space controller. |
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| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Robotik (ab 01.08.2022 umbenannt in Regelungsmethoden und Intelligente Systeme) |
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| Hinterlegungsdatum: | 27 Aug 2012 13:41 | ||||
| Letzte Änderung: | 05 Mär 2013 10:02 | ||||
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