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Passivity-based Adaptive Control of Quadrotors with Mass and Moment of Inertia Uncertainties

Title
Passivity-based Adaptive Control of Quadrotors with Mass and Moment of Inertia Uncertainties
Authors
Song, JeyoungChang, Dong EuiEun, Yongsoon
DGIST Authors
Eun, Yongsoon
Issue Date
2019-12-11
Citation
58th IEEE Conference on Decision and Control, CDC 2019, 90-95
Type
Conference
ISBN
9781728113982
ISSN
0743-1546
Abstract
This paper provides a passivity based adaptive trajectory tracking controller for quadrotor dynamics. The proposed controller guarantees global asymptotic tracking for any desired smooth trajectory, and this is achieved, through parameter adaptations, without precisely knowing the mass and moment of inertia of the quadrotor. A convergence criterion for the mass estimate is given. In addition, bounded disturbances on the thrust and torque are considered, and it is shown that the tracking error is globally bounded under mild conditions. Simulations are carried out to illustrate the control performance. © 2019 IEEE.
URI
http://hdl.handle.net/20.500.11750/11652
DOI
10.1109/CDC40024.2019.9029780
Publisher
Institute of Electrical and Electronics Engineers Inc.
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 EngineeringDSC Lab(Dynamic Systems and Control Laboratory)2. Conference Papers


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