Passification Based Simple Adaptive Control Of Quadrotor^*

详细信息    查看全文

• 作者：Stanislav Tomashevich^* ; ^** ; ^{tomashevich.stanislav@gmail.com" class="auth_mail" title="E-mail the corresponding author} ; Andrey Belyavskyi^* ; ^{belyavskyi.a.o@gmail.com" class="auth_mail" title="E-mail the corresponding author}
• 关键词：passification ; quadrotor ; adaptive ; control
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：13
• 页码：281-286
• 全文大小：932 K

文摘

In this paper the simple signal-parametric adaptive control for quadrotor stabilization based on the passification method is proposed for both cases of scalar (stabilization in the vertical plane and yaw angle stabilization) and vector control (stabilization of the roll and pitch angles. The simulation results demonstrate high efficiency of the adaptive control system and its robustness with respect to the plant parametric uncertainty.