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
Research Interests
Resilient control systems; Control systems with nonlinear sensors and actuators; Quasi-linear control systems; Intelligent transportation systems; Networked control systems