In the paper, the results of the Passification Method with the Implicit Reference Model (IRM) approach are applied for designing the simple adaptive controller for quadrotor attitude. The IRM design technique makes it possible to relax the matching condition, known for habitual MRAC systems, and leads to simple adaptive controllers, ensuring fast tuning the controller gains, high robustness with respect to nonlinearities in the control loop, to the external disturbances and the unmodeled plant dynamics. For experimental evaluation of the adaptive systems performance, the 2DOF laboratory setup has been created. The testbed allows to safely test new control algorithms in the laboratory area with a small space and promptly make changes in cases of failure. The testing results of simple adaptive control of quadrotor attitude are presented, demonstrating efficacy of the applied simple adaptive control method. The experiments demonstrate good performance quality and high adaptation rate of the simple adaptive control system.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Passification based simple adaptive control of quadrotor attitude: Algorithms and testbed results



    Conference:

    ICNPAA 2016 WORLD CONGRESS: 11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences ; 2016 ; La Rochelle, France


    Published in:

    Publication date :

    2017-01-27


    Size :

    11 pages





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Quadrotor testbed development and preliminary results

    Cashbaugh, Jasmine / Mahacek, Anne / Kitts, Christopher et al. | IEEE | 2015




    PASSIFICATION-BASED ADAPTIVE CONTROL OF SPACECRAFT WITH ELASTIC APPENDAGES

    Lee, Keum W. / Singh, Sahjendra N. | TIBKAT | 2020


    Chattering free sliding adaptive attitude control for quadrotor

    Zhi Li / Xin Ma / Zhigang Xu et al. | IEEE | 2016