Schreier, Matthias (2012):
Modeling and Adaptive Control of a Quadrotor.
In: Proceedings of the IEEE International Conference on Mechatronics and Automation, Chengdu, China, In: IEEE International Conference on Mechatronics and Automation, Chengdu, China, 05.-08. Aug 2012, [Conference or Workshop Item]
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.
| Item Type: | Conference or Workshop Item | ||||
|---|---|---|---|---|---|
| Erschienen: | 2012 | ||||
| Creators: | Schreier, Matthias | ||||
| Title: | Modeling and Adaptive Control of a Quadrotor | ||||
| Language: | English | ||||
| 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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| Title of Book: | Proceedings of the IEEE International Conference on Mechatronics and Automation | ||||
| Place of Publication: | Chengdu, China | ||||
| Divisions: | 18 Department of Electrical Engineering and Information Technology 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics |
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| Event Title: | IEEE International Conference on Mechatronics and Automation | ||||
| Event Location: | Chengdu, China | ||||
| Event Dates: | 05.-08. Aug 2012 | ||||
| Date Deposited: | 27 Aug 2012 13:41 | ||||
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