An adaptive control approach is presented in this article to deal with the impacts of carrying a payload with unknown mass by a quadrotor. This approach can effectively control the quadrotor’s attitude stability. The paper commences by presenting the dynamic model of the quadrotor, followed by the development of a controller to manage its attitude control. Through Lyapunov analysis, the stability of the controller is validated. Ultimately, the proposed controller and a backstepping controller are used to controlling the attitude of the quadrotor, respectively, and experimental outcomes substantiate the efficiency and feasibility of the introduced controller.
An Adaptive Attitude Controller for A Quadrotor Transporting the Payload With Unknown Mass
27.08.2023
2405279 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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