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

Title
Passivity-based Adaptive Control of Quadrotor with Mass and Inertia Uncertainties
Translated Title
질량과 관성모멘트의 불확실성을 갖는 쿼드로터의 수동성 기반 적응 제어
Authors
Jeyoung Song
DGIST Authors
Song, Jeyoung; Oh, SehoonEun, Yongsoon
Advisor(s)
은용순
Co-Advisor(s)
Sehoon Oh
Issue Date
2019
Available Date
2019-10-03
Degree Date
2019-02
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
University
DGIST
Related Researcher
  • Author Eun, Yongsoon DSC Lab(Dynamic Systems and Control Laboratory)
  • Research Interests Resilient control systems; Control systems with nonlinear sensors and actuators; Quasi-linear control systems; Intelligent transportation systems; Networked control systems
Files:
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Collection:
Department of Information and Communication EngineeringThesesMaster


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