Earticle

초록

영어

In this paper an adaptive robust control scheme along with its simulation on quadrotor is presented to deal with payload variation and unknown disturbance. Parametric and nonparametric uncertainties in the quadrotor model always make it difficult to design a controller to meet the performance requirement in various conditions during flight time. Adaptive robust backstepping (ARB) control, which is based on improved Lyapunov theory, is suggested to solve the problem. The proposed control scheme introduces piecewise functions into parameter adaptation law and control law to avoid control chattering while the Lyapunov function uniformly bounded is used. This choice not only provides guaranteed transient and asymptotic tracking performance but also precisely estimates the system parameters. Promising simulation results in different environments are carried out to demonstrate the efficiency and robustness of ARB control, and its advantages are indicated in comparison with conventional PID controller.

목차

Abstract
 1. Introduction
  1.1 Paper Contribution
 2. System Modeling
  2.1 Quadrotor Description
  2.2 Dynamics Equation of Motion
 3. Control Strategy
  3.1 System Structure
  3.2 Altitude Control
  3.3 Performance Analysis
  3.4 Control of Attitude
  3.5 Thrust Allocation Algorithm
 4. Simulation Results
  4.1 Absence of Payload Variation and Disturbance
  4.2 Payload Variation Only
  4.3 Disturbance Only
  4.4 Disturbance & Payload Variation
 5. Conclusion
 References

키워드

저자

• Wang Chen [ School of Aeronautics, Northwestern Polytechnical University, Xi’an 710072, China ]
• Song Bifeng [ School of Aeronautics, Northwestern Polytechnical University, Xi’an 710072, China ]
• Meyer Nahon [ Department of Mechanical Engineering, McGill University, Montreal, Canada ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605