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    Öğe
    A lyapunov based model reference adaptive control of a quadrotor
    (Ieee, 2017) Akgün, Onur; Subaşı, Evren; Türker, Türker
    Model reference adaptive controller is proposed to control the position of a quadrotor with uncertain model parameters. The controller design procedure is provided considering position and attitude dynamics as outer and inner loops respectively. Reference signals for roll and pitch angles are obtained from the outer loop controller while the inner loop controller drives the tracking error of roll and pitch angle dynamics to zero. Stability analysis for both inner and outer loop error dynamics are performed and the adaptation laws are derived based on Lyapunov stability theory. Since the reference models can also be assigned separately for inner and outer loops, the speed of the responses of position and attitude dynamics are adjusted independently improving the control performance. The viability and the success of the proposed controller are tested through simulations studies performed for different tracking scenarios.
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    Öğe
    An adaptive block backstepping controller for a quadrotor
    (Ieee, 2018) Akgün, Onur; Türker, Türker
    An adaptive block backstepping controller is proposed to control the position of a quadrotor with uncertain model parameters. The controller design procedure is provided considering the stability of six blocks involving the states of the model. In each step the stability of the concerned block is shown by means of Lyapunov stability theorem. The viability and the success of the proposed controller are tested through numerical simulations.