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Modeling and Adaptive Control of a Quadrotor

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.

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
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
Alternative keywords:
Alternative keywordsLanguage
UAV, VTOL, quadrotor, adaptive control, identification, stabilizationEnglish
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