Title

Passivity-based Adaptive Control of Quadrotor with Mass and Inertia Uncertainties

Alternative Title

질량과 관성모멘트의 불확실성을 갖는 쿼드로터의 수동성 기반 적응 제어

DGIST Authors

Song, Jeyoung ; Eun, Yongsoon ; Oh, Sehoon

Advisor

은용순

Co-Advisor(s)

Sehoon Oh

Issued Date

2019

Awarded Date

2019-02

Citation

Jeyoung Song. (2019). Passivity-based Adaptive Control of Quadrotor with Mass and Inertia Uncertainties. doi: 10.22704/thesis.200000171492

Type

Thesis

Table Of Contents

1 Introduction 1
2 Background 3
2.1 Special Matrices 3
2.2 Barbalat’s lemma 4
2.3 Persistency of Excitation 5
2.4 Passivity based Lyapunov Design 6
3 Quadrotor Modeling 9
3.1 Inertial Frame and Rotating Frame 9
3.2 Quadrotor Dynamics 11
4 Passivity based Adaptive Control 13
4.1 Controller Design 13
4.2 Parameter Convergence Criteria 18
4.3 Passivity based Adaptive Robust Control 20
5 Simulation with MATLAB 25
5.1 Passivity based Adaptive Control (PBAC) 25
5.2 Passivity based Adaptive Robust Control (PBARC) 29
6 Conclusion 35
A More graphs of Simulation 37
A.1 Storage function elements and inputs of PBAC 37
A.2 Storage function elements and inputs of PBARC 37
Bibliography 42
국문초록 44

URI

http://dgist.dcollection.net/common/orgView/200000171492
http://hdl.handle.net/20.500.11750/10734

DOI

10.22704/thesis.200000171492

Degree

MASTER

Department

Information and Communication Engineering

Publisher

DGIST

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