Synthesis of adaptive control for quadcopter

• Autorzy: Gudzenko O.
• Konferencja: Środowiskowe Warsztaty Doktorantów Politechniki Opolskiej (IX ; 24–26.05.2017; Opole-Pokrzywna)
• Języki publikacji: EN

Abstrakty

EN

In the paper, the problem of adaptive control of the asymmetric quadcopter’s motion along a given trajectory was solved. In addition, a recursive method for identifying model parameters was chosen. The methods were compared by standard deviation based on the criterion of inaccurate knowledge of the model’s parameters. The paper shows that the method works effectively in the selected conditions.

Słowa kluczowe

EN

adaptive control; quadcopter; PD regulator; PID regulator

• Wydawca: Oficyna Wydawnicza Politechniki Opolskiej
• Czasopismo: Zeszyty Naukowe. Elektryka / Politechnika Opolska
• Rocznik: 2017
• Tom: z. 75
• Strony: 25--26
• Opis fizyczny: Bibliogr. 4 poz., rys.

Twórcy

autor

Gudzenko O.

• Faculty of Electrical Engineering, Automatic Control and Informatics Institute of Drive Systems and Robotics

Bibliografia

• [1] ZHAOA W., GO T.H.: Quadcopter formation flight control combining MPC and robust feedback linearization, Journal of the Franklin Institute, Volume 351, Issue 3, March 2014, pp. 1335–1355. DOI: 10.1016/j.jfranklin.2013.10.021
• [2] SELFRIDGE J.M., TAO G.: A multivariable adaptive controller for a quadrotor with guaranteed matching conditions, Systems Science & Control Engineering, Volume 2, 2014, Issue 1, pp. 24–33. DOI: 10.1080/21642583.2013.879050
• [3] BENIAK R., GUDZENKO O.: Control methods design for a model of asymmetrical quadrocopter, Journal of Automation, Mobile Robotics & Intelligent Systems, Vol. 10, №2, 2016, pp. 40–49. DOI: 10.14313/JAMRIS_2-2016/14
• [4] BENIAK R., GUDZENKO O.: Comparing control algorithms of quadrocopters to implement their atypical maneuvers, in 21th International Conference on Methods and Models in Automation and Robotics, 2016. DOI: 10.1109/MMAR.2016.7575292

Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).