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Title: Simple adaptive control system design for a quadrotor with an internal PFC

The paper deals with an adaptive control system design problem for a four rotor helicopter or quadrotor. A simple adaptive control design scheme with a parallel feedforward compensator (PFC) in the internal loop of the considered quadrotor will be proposed based on the backstepping strategy. As is well known, the backstepping control strategy is one of the advanced control strategy for nonlinear systems. However, the control algorithm will become complex if the system has higher order relative degrees. We will show that one can skip some design steps of the backstepping method by introducing a PFC in the inner loop of the considered quadrotor, so that the structure of the obtained controller will be simplified and a high gain based adaptive feedback control system will be designed. The effectiveness of the proposed method will be confirmed through numerical simulations.
Authors:
; ; ;  [1]
  1. Dept. of Mechanical Systems Engineering, Kumamoto University 2-39-1 Kurokami, Kumamoto, 860-8555 (Japan)
Publication Date:
OSTI Identifier:
22390799
Resource Type:
Journal Article
Resource Relation:
Journal Name: AIP Conference Proceedings; Journal Volume: 1637; Journal Issue: 1; Conference: ICNPAA 2014: 10. International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, Narvik (Norway), 15-18 Jul 2014; Other Information: (c) 2014 AIP Publishing LLC; Country of input: International Atomic Energy Agency (IAEA)
Country of Publication:
United States
Language:
English
Subject:
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSICS; ALGORITHMS; COMPLEXES; COMPUTERIZED SIMULATION; CONTROL SYSTEMS; DESIGN; FEEDBACK; GAIN; HELICOPTERS; ROTORS