Development of Adaptive Control for an Asymmetric Quadcopt

• Autorzy: Beniak Ryszard , Gudzenko Oleksandr

Identyfikatory

DOI

10.14313/PAR_237/29

Warianty tytułu

PL

Opracowanie sterowania adaptacyjnego dla quadrocoptera asymetrycznego

• Języki publikacji: EN

Abstrakty

EN

The paper presents an adaptive control algorithm for an asymmetric quadcopter. For determining the control algorithm, the identification was made, and an identification algorithm is presented in the form of a recursive method. The control method is realized using inverse dynamics, full state feedback and finally adaptive control method. The algorithms for the off-line and on-line identification of quadcopter model parameters are also presented. The paper shows the effectiveness of the selected algorithm on the example of the movement along a given trajectory. Finally, recommendations of the application of these different methods are made.

PL

W pracy przedstawiono algorytm sterowania adaptacyjnego dla asymetrycznego quadrocoptera. W celu określenia sterowania zrealizowano identyfikację parametrów i przedstawiono algorytm identyfikacji w formie metody rekurencyjnej. Metoda sterowania realizowana jest z wykorzystaniem dynamiki odwrotnej, przesuwania biegunów oraz sterowania adaptacyjnego. Zaprezentowano algorytmy identyfikacji parametrów modelu quadrocoptera w trybie off-line i on-line. W artykule przedstawiono skuteczność wybranych algorytmów na przykładzie ruchu wzdłuż podanej trajektorii. Na zakończenie artykułu przedstawiono zalecenia dotyczące stosowania różnych metod sterowania.

Słowa kluczowe

EN

quadcopter; adaptive control; inverse dynamics; full state feedback; wind

PL

quadrocopter; sterowanie adaptacyjne; odwrotna dynamika; przesuwanie biegunów; wiatr

• Wydawca: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów PIAP
• Czasopismo: Pomiary Automatyka Robotyka
• Rocznik: 2020
• Tom: R. 24, nr 3
• Strony: 29--35
• Opis fizyczny: Bibliogr. 24 poz., rys., wykr., wzory

Twórcy

autor

Beniak Ryszard

• Opole University of Technology, Faculty of Electrical Engineering, Automatic Control and Computer Science, ul. Prószkowska 76, 45-758 Opole, Poland

autor

Gudzenko Oleksandr

• Opole University of Technology, Faculty of Electrical Engineering, Automatic Control and Computer Science, ul. Prószkowska 76, 45-758 Opole, Poland

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).