Naslov
Adaptive Control of a Quadrotor with Dynamic Changes in the Center of Gravity

Autori
Palunko, Ivana ; Fierro, Rafael

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 18th IFAC World Congress, 2011 / - , 2011, 2626-2631

Skup
18th IFAC World Congress, 2011

Mjesto i datum
Milano, Italija, 28.08.2011. - 02.09.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Flying robots; Guidance navigation and control; Modeling

Sažetak
In this paper, we address the problem of quadrotor stabilization and trajectory tracking with dynamic changes of quadrotor's center of gravity. This problem has great practical significance in many UAV applications. However, it has received little attention in literature so far. In this paper, we present an adaptive tracking controller based on output feedback linearization that compensates for dynamical changes in the center of gravity of the quadrotor. Effectiveness and robustness of the proposed adaptive control scheme is verified through simulation results. The proposed controller is an important step towards developing the next generation of agile autonomous aerial vehicles. This control algorithm enables a quadrotor to display agile maneuvers while reconfiguring in real time whenever a change in the center of gravity occurs.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Zrakoplovstvo, raketna i svemirska tehnika

POVEZANOST RADA