Simple adaptive control of quadrotor attitude. Algorithms and experimental results

Tomashevich, Stanislav; Fradkov, Alexander L.; Andrievsky, Boris; Belyavskyi, Anderey O.; Amelin, Konstantin

doi:10.1109/med.2017.7984239

Cited by 9 publications

(4 citation statements)

References 40 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In [71], the problem of synchronization by states in the network of identical linear agents is considered by applying consensus output feedback. In the series of papers [72]- [74] the IRM adaptive controller is used for control of quadrotors. Decentralized adaptive synchronization of nonlinear dynamic networks with delay is described in [75].…”

Section: Takedownmentioning

confidence: 99%

Historical Overview of the Passification Method and its Applications to Nonlinear and Adaptive Control Problems

Andrievsky

Selivanov

2020

2020 European Control Conference (ECC)

Self Cite

View full text Add to dashboard Cite

show abstract

Section: Takedownmentioning

confidence: 99%

Historical Overview of the Passification Method and its Applications to Nonlinear and Adaptive Control Problems

Andrievsky

Selivanov

2020

2020 European Control Conference (ECC)

Self Cite

View full text Add to dashboard Cite

show abstract

“…In line with [25,26], some simplified quadcopter dynamics are used as a numerical example. The simplified quadcopter attitude dynamics is given as follows:…”

Section: Numerical Simulationmentioning

confidence: 99%

Adaptive Synchronization for Heterogeneous Multi-Agent Systems with Switching Topologies

Rosa¹

2018

Machines

View full text Add to dashboard Cite

Abstract:This work provides a multi-agent extension of output-feedback model reference adaptive control (MRAC), designed to synchronize a network of heterogeneous uncertain agents. The implementation of this scheme is based on multi-agent matching conditions. The practical advantage of the proposed MRAC is the possibility of handling the case of the unknown dynamics of the agents only by using the output and the control input of its neighbors. In addition, it is reasonable to consider the case when the communication topology is time-varying. In this work, the time-varying communication leads to a switching control structure that depends on the number of the predecessor of the agents. By using the switching control structure to handle the time-varying topologies, we show that synchronization can be achieved. The multi-agent adaptive switching controller is first analyzed, and numerical simulations based on formation control of simplifier quadcopter dynamics are provided.

show abstract

“…1,24,25 The SAC technique has attracted the attention of many researchers in the last few decades, due to its simplicity and the ease of implementation of its algorithm. [26][27][28][29][30][31][32][33] The SAC is a type of direct adaptive controller developed by Sobel et al 34 One of the main advantages of this technique is that it does not require full state access or any estimator in the control loop, and the system parameters and dynamics are not necessarily needed to be known. The only requirement for the implementation of the SAC algorithm is that the plant to be controlled should satisfy the almost strict passivity (ASP) conditions.…”

Section: Introductionmentioning

confidence: 99%

A passivity‐based simple adaptive synergetic control for a class of nonlinear systems

Mokhtari

Elhadri

Aribi

2019

Adaptive Control & Signal

View full text Add to dashboard Cite

For a class of nonlinear systems with the representation {A(x), B(x), C} and where the system parameters and dynamics are unknown, a simple adaptive synergetic controller ensuring the asymptotic convergence of the system to a desired manifold is proposed based on the technique of simple adaptive control (SAC). It is well known that the design of the synergetic control (SC) law requires a thorough knowledge of the system parameters and dynamics. Such problem obstructs the synthesis of the SC law and the designer is prompted to pass through the estimation methods, which, in turn, poses a problem of increasing the computation time of the control algorithm. To cope with this problem, a solution is proposed by modifying the original SC law to develop an SAC-like adaptive SC law without the need of prior knowledge of the system. The stability of the proposed adaptive controller is formally proven via the Lyapunov approach. Experimental application to a quadrotor system is given to validate the theoretical results. KEYWORDSadaptive synergetic control, almost strict passivity, quadrotor system, simple adaptive control

show abstract

Simple adaptive control of quadrotor attitude. Algorithms and experimental results

Cited by 9 publications

References 40 publications

Historical Overview of the Passification Method and its Applications to Nonlinear and Adaptive Control Problems

Historical Overview of the Passification Method and its Applications to Nonlinear and Adaptive Control Problems

Adaptive Synchronization for Heterogeneous Multi-Agent Systems with Switching Topologies

A passivity‐based simple adaptive synergetic control for a class of nonlinear systems

Contact Info

Product

Resources

About