DocumentCode
1768884
Title
Adaptive control over quadcopter UAV under disturbances
Author
Razinkova, Anastasia ; Gaponov, Igor ; Hyun-Chan Cho
Author_Institution
Dept. of Electron. Eng., KoreaTech, Cheonan, South Korea
fYear
2014
fDate
22-25 Oct. 2014
Firstpage
386
Lastpage
390
Abstract
This paper is concerned with adaptive compensation for position tracking error of quadrotor UAVs. We propose an adaptive compensation scheme which effectively reduces errors in tracking desired position along X- and Y-axis in the presence of constant disturbance. The proposed control strategy is verified through extensive computer simulations. Implementation of the designed adaptive compensator allowed to reduce tracking error by a factor of 3 and can be effectively used in practical quadcopters.
Keywords
adaptive control; autonomous aerial vehicles; control system synthesis; error compensation; helicopters; position control; adaptive compensation scheme; adaptive compensator; adaptive control; adaptive position tracking error compensation; computer simulations; quadcopter UAV; MATLAB; Mathematical model; Robot kinematics; Switches; Trajectory; Adaptive Control; Quadrotor;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems (ICCAS), 2014 14th International Conference on
Conference_Location
Seoul
ISSN
2093-7121
Print_ISBN
978-8-9932-1506-9
Type
conf
DOI
10.1109/ICCAS.2014.6988027
Filename
6988027
Link To Document