Name
Title | ||
|---|---|---|
Passivity-based Adaptive Control of Quadrotors with Mass and Moment of Inertia Uncertainties |
Abstract | ||
|---|---|---|
This paper provides a passivity based adaptive trajectory tracking controller for quadrotor dynamics. The proposed controller guarantees global asymptotic tracking for any desired smooth trajectory, and this is achieved, through parameter adaptations, without precisely knowing the mass and moment of inertia of the quadrotor. A convergence criterion for the mass estimate is given. In addition, bounded disturbances on the thrust and torque are considered, and it is shown that the tracking error is globally bounded under mild conditions. Simulations are carried out to illustrate the control performance. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/CDC40024.2019.9029780 | 2019 IEEE 58th Conference on Decision and Control (CDC) |
Keywords | DocType | ISSN |
tracking error,adaptive trajectory tracking controller,quadrotor dynamics,global asymptotic tracking,passivity-based adaptive control,moment of inertia uncertainties,convergence criterion | Conference | 0743-1546 |
ISBN | Citations | PageRank |
978-1-7281-1399-9 | 0 | 0.34 |
References | Authors | |
4 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jeyoung Song | 1 | 0 | 0.34 |
| Dong Eui Chang | 2 | 7 | 3.98 |
| Yongsoon Eun | 3 | 77 | 23.26 |