TY - GEN
T1 - Augmented-MRAC for quadrotor UAVs with parameter change
AU - Fan, Fangrui
AU - Lin, Mengxiang
AU - Ding, Rong
AU - Zheng, Zheng
AU - Liu, Yang
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/26
Y1 - 2016/9/26
N2 - Multirotor unmanned aerial vehicles (MAVs) with the capability of interaction with their surroundings have recently received increasing attention. However, the rapid change parameters during flight present a challenge for the stable control of MAVs. In this paper, the baseline controller of a quadrotor is developed based on classical model reference adaptive control (MRAC) and an identifier is introduced to cope with the uncertainty in parameters. Specifically, the recursive least squares method with forgetting factor (FFRLS) is used to design the identifier. Both the baseline MRAC controller and augmented-MRAC controller are simulated to verify their effectiveness. The results show the improvements on stability in the presence of parameter change.
AB - Multirotor unmanned aerial vehicles (MAVs) with the capability of interaction with their surroundings have recently received increasing attention. However, the rapid change parameters during flight present a challenge for the stable control of MAVs. In this paper, the baseline controller of a quadrotor is developed based on classical model reference adaptive control (MRAC) and an identifier is introduced to cope with the uncertainty in parameters. Specifically, the recursive least squares method with forgetting factor (FFRLS) is used to design the identifier. Both the baseline MRAC controller and augmented-MRAC controller are simulated to verify their effectiveness. The results show the improvements on stability in the presence of parameter change.
UR - https://www.scopus.com/pages/publications/84992437412
U2 - 10.1109/AIM.2016.7576817
DO - 10.1109/AIM.2016.7576817
M3 - 会议稿件
AN - SCOPUS:84992437412
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 501
EP - 506
BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Y2 - 12 July 2016 through 15 July 2016
ER -