A lyapunov based model reference adaptive control of a quadrotor

Basit Öğe Kaydı
dc.contributor.authorAkgün, Onur
dc.contributor.authorSubaşı, Evren
dc.contributor.authorTürker, Türker
dc.date.accessioned2021-01-08T21:51:26Z
dc.date.available2021-01-08T21:51:26Z
dc.date.issued2017
dc.departmentTAÜ, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümüen_US
dc.description10th International Conference on Electrical and Electronics Engineering (ELECO), NOV 30-DEC 02, 2017, Bursa, TURKEYen_US
dc.descriptionTurker, Turker/0000-0003-2653-3625en_US
dc.descriptionWOS:000426978800126en_US
dc.description.abstractModel 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.
dc.description.sponsorshipChamber Elect Engineers Bursa Branch, Uludag Univ, Fac Engn, Dept Elect & Elect Engn, Istanbul Tech Univ, Fac Elect & Elect Engn, Sci & Technolog Res Council Turkey, IEEE Turkey Sect
dc.identifier.endpage736en_US
dc.identifier.isbn978-1-5386-1723-6
dc.identifier.scopus2-s2.0-85046259398
dc.identifier.scopusqualityN/A
dc.identifier.startpage732en_US
dc.identifier.urihttps://hdl.handle.net/20.500.12846/256
dc.identifier.wosWOS:000426978800126
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorAkgün, Onur
dc.language.isoen
dc.publisherIeee
dc.relation.ispartof2017 10Th International Conference On Electrical And Electronics Engineering (Eleco)
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.titleA lyapunov based model reference adaptive control of a quadrotor
dc.typeConference Object

Dosyalar

Orijinal paket
Listeleniyor 1 - 1 / 1
[ X ]
İsim:
256.pdf
Boyut:
551.22 KB
Biçim:
Adobe Portable Document Format
Açıklama:
Tam Metin / Full Text
İndir

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu
Mekatronik Mühendisliği Bölümü Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu