Passification Based Simple Adaptive Control Of Quadrotor <ce:cross-ref id='cecref0006' refid='fn1'> <ce:sup loc='post'>*</ce:sup> </ce:cross-ref> <ce:footnote id='fn1'> <ce:label>*</ce:label> <ce:note-para id='npara0001' view='all'>The work was performed in the IPME RAS and supported by the Russian Science Foundation (grant 14-29-00142).</ce:note-para> </ce:footnote>

Stanislav Tomashevich; Andrey Belyavskyi

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The work was performed in the IPME RAS and supported by the Russian Science Foundation (grant 14-29-00142).

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Passification Based Simple Adaptive Control Of Quadrotor * * The work was performed in the IPME RAS and supported by the Russian Science Foundation (grant 14-29-00142).

机译：基于钝化的四旋翼机简单自适应控制 * < ce：footnote id =“ fn1”> * 此工作是在IPME RAS中进行的，并得到了俄罗斯科学基金会（拨款14-29-00142）。

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In this paper the simple signal-parametric adaptive control for quadrotor stabilization based on the passification method is proposed for both cases of scalar (stabilization in the vertical plane and yaw angle stabilization) and vector control (stabilization of the roll and pitch angles. The simulation results demonstrate high efficiency of the adaptive control system and its robustness with respect to the plant parametric uncertainty.

机译：针对标量（垂直平面的稳定和偏航角的稳定）和矢量控制（侧倾和俯仰角的稳定）的情况，提出了一种基于钝化方法的用于四旋翼稳定的简单信号参数自适应控制。结果证明了自适应控制系统的高效率及其相对于工厂参数不确定性的鲁棒性。

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《IFAC PapersOnLine》 |2016年第13期|共6页
作者
Stanislav Tomashevich; Andrey Belyavskyi;
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中图分类自动化技术、计算机技术;
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Passification Based Simple Adaptive Control Of Quadrotor * * The work was performed in the IPME RAS and supported by the Russian Science Foundation (grant 14-29-00142).

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