Home > Research > Publications & Outputs > An Adaptive Scheme to Estimate Unknown Paramete...

Electronic data

  • NIR_Conf_Russia

    Rights statement: ©2020 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

    Accepted author manuscript, 1.1 MB, PDF document

    Available under license: CC BY-NC: Creative Commons Attribution-NonCommercial 4.0 International License

Links

Text available via DOI:

View graph of relations

An Adaptive Scheme to Estimate Unknown Parameters of an Unmanned Aerial Vehicle

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNConference contribution/Paperpeer-review

Published
Publication date28/12/2020
Host publication2020 International Conference Nonlinearity, Information and Robotics (NIR)
PublisherIEEE
Pages1-6
Number of pages6
ISBN (electronic)9781728187631
<mark>Original language</mark>English
EventNonlinearity, Information, and Robotics - Innopolis University, Innopolis, Russian Federation
Duration: 3/09/20206/09/2020
http://nir.innopolis.university/

Conference

ConferenceNonlinearity, Information, and Robotics
Country/TerritoryRussian Federation
CityInnopolis
Period3/09/206/09/20
Internet address

Conference

ConferenceNonlinearity, Information, and Robotics
Country/TerritoryRussian Federation
CityInnopolis
Period3/09/206/09/20
Internet address

Abstract

This paper deals with tracking control problem for six degrees of freedom (6-DOF) nonlinear quadrotor unmanned aerial vehicle (UAV). A virtual control design using PD controller is proposed for tracking control position. The rotational dynamics of UAV is considered to have several unknown parameters such
as propeller inertia, rotational drag coefficient and an external disturbance parameter. To handle this issue, an adaptive scheme using the certainty equivalence principle is developed. The basic idea behind this scheme is to cancel the nonlinear term by applying a similar nonlinear structure in the feedback control design. The unknown parameters are replaced by estimated parameters generated by adaptation law. The rigorous theoretical design and simulation results are presented to demonstrate the effectiveness of the controller.

Bibliographic note

©2020 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.