Development of Adaptive Control for an Asymmetric Quadcopter

eng Article in English DOI: 10.14313/PAR_237/29

send Ryszard Beniak , Oleksandr Gudzenko Opole University of Technology, Faculty of Electrical Engineering, Automatic Control and Computer Science

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Abstract

The paper presents an adaptive control algorithm for an asymmetric quadcopter. For determining the control algorithm, the identification was made, and an identification algorithm is presented in the form of a recursive method. The control method is realized using inverse dynamics, full state feedback and finally adaptive control method. The algorithms for the off-line and on-line identification of quadcopter model parameters are also presented. The paper shows the effectiveness of the selected algorithm on the example of the movement along a given trajectory. Finally, recommendations of the application of these different methods are made.

Keywords

adaptive control, full state feedback, inverse dynamics, Quadcopter, wind

Opracowanie sterowania adaptacyjnego dla quadrocoptera asymetrycznego

Streszczenie

W pracy przedstawiono algorytm sterowania adaptacyjnego dla asymetrycznego quadrocoptera. W celu określenia sterowania zrealizowano identyfikację parametrów i przedstawiono algorytm identyfikacji w formie metody rekurencyjnej. Metoda sterowania realizowana jest z wykorzystaniem dynamiki odwrotnej, przesuwania biegunów oraz sterowania adaptacyjnego. Zaprezentowano algorytmy identyfikacji parametrów modelu quadrocoptera w trybie off-line i on-line. W artykule przedstawiono skuteczność wybranych algorytmów na przykładzie ruchu wzdłuż podanej trajektorii. Na zakończenie artykułu przedstawiono zalecenia dotyczące stosowania różnych metod sterowania.

Słowa kluczowe

odwrotna dynamika, przesuwanie biegunów, quadrocopter, sterowanie adaptacyjne, wiatr

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