Passivity-based Adaptive Control of Quadrotor with Mass and Inertia Uncertainties
- Title
- Passivity-based Adaptive Control of Quadrotor with Mass and Inertia Uncertainties
- Alternative Title
- 질량과 관성모멘트의 불확실성을 갖는 쿼드로터의 수동성 기반 적응 제어
- Author(s)
- Jeyoung Song
- DGIST Authors
- Song, Jeyoung ; Eun, Yongsoon ; Oh, Sehoon
- Advisor
- 은용순
- Co-Advisor(s)
- Sehoon Oh
- Issued Date
- 2019
- Awarded 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
- Degree
- MASTER
- Department
- Information and Communication Engineering
- Publisher
- DGIST
- Related Researcher
-
-
Eun, Yongsoon
- Research Interests Resilient control systems; Control systems with nonlinear sensors and actuators; Quasi-linear control systems; Intelligent transportation systems; Networked control systems
-
- Files in This Item:
-
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- Appears in Collections:
- Department of Electrical Engineering and Computer Science Theses Master
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