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Full Control of a Quadrotor with Simple Adaptive Control

Автор(ы):

Stanislav Igorevich Tomashevich

ITMO University
Faculty of Control Systems and Robotics
Kronverksky Pr., 49
St. Petersburg, 197101, Russia
Cand.of technical sciences

Boris Rostislavich Andrievsky

Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS),
Laboratory "Control of Complex Systems",
V.O., Bolshoj pr., 61,
St. Petersburg, 199178, Russia
Dr. of technical sciences

Аннотация:

In the paper the simple adaptive control approach is employed to designing the adaptive controllers of every quadrotor position: attitude, altitude, latitude and longitude. The adaptive controllers are synthesized based on the Implicit Reference Model (IRM) design technique. The ``shunting method'' (parallel feedforward compensation) is used to cope with the unmodelled plant dynamics. 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 for stabilization and tracking cases.

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Ссылки:

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