Simple Adaptive Control for Quadcopters with Saturated Actuators

被引：7

作者：

Borisov, Oleg I. ^{[1
]}

Bobtsov, Alexey A. ^{[1
,2
]}

Pyrkin, Anton A. ^{[1
]}

Gromov, Vladislav S. ^{[1
]}

机构：

[1] ITMO Univ, Dept Control Syst & Informat, Kronverkskiy Pr 49, St Petersburg 197101, Russia

[2] Inst Problems Mech Engn, Lab Control Complex Syst, Bolshoy Pr 61, St Petersburg 199178, Russia

来源：

ICNPAA 2016 WORLD CONGRESS: 11TH INTERNATIONAL CONFERENCE ON MATHEMATICAL PROBLEMS IN ENGINEERING, AEROSPACE AND SCIENCES | 2017年 / 1798卷

基金：

俄罗斯科学基金会;

关键词：

OUTPUT-CONTROL; SYSTEM;

D O I：

10.1063/1.4972623

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

The stabilization problem for quadcopters with saturated actuators is considered. A simple adaptive output control approach is proposed. The control law "consecutive compensator" is augmented with the auxiliary integral loop and anti-windup scheme. Efficiency of the obtained regulator was confirmed by simulation of the quadcopter control problem.

引用

页数：10

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