Adaptive Control for Multirotor Systems with Completely Uncertain Dynamics

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)

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Detail(s)

Original languageEnglish
Title of host publicationProceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Pages2225-2230
ISBN (Electronic)978-1-5386-3742-5
ISBN (Print)978-1-5386-3743-2
Publication statusPublished - Dec 2017

Publication series

NameIEEE International Conference on Robotics and Biomimetics
PublisherIEEE

Conference

Title2017 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2017)
PlaceChina
CityMacau SAR
Period5 - 8 December 2017

Abstract

Thanks to their exceptional flying maneuverability and simple dynamics, multirotor systems have recently been developed and used for various applications. In low-cost prototypes or highly-customized systems; however, the uncertainties in model parameters may adversely affect the flight performance or lead to instability. In this paper, we proposed a Lypunov-based adaptive flight controller capable of robustly stabilizing a multicopter with completely uncertain configurations and dynamics. We experimentally demonstrate that the controller is capable of stabilizing the vehicle with only crude knowledge of its rotor positions, mass distribution, moment of inertia, and aerodynamic coefficients. The results show that the attitude and altitude errors initially caused by the inaccurate system model significantly reduced after the activation of the adaptive scheme in real flights.

Citation Format(s)

Adaptive Control for Multirotor Systems with Completely Uncertain Dynamics. / Mu, Bingguo; Ng, Ee Huei; Chirarattananon, Pakpong.

Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics. IEEE, 2017. p. 2225-2230 (IEEE International Conference on Robotics and Biomimetics).

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)