Adaptive Control of a Quadrotor with

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1、Preprintsofthe18thIFACWorldCongressMilano(Italy)August28-September2,2011AdaptiveControlofaQuadrotorwithDynamicChangesintheCenterofGravityIvanaPalunkoandRafaelFierroDepartmentofElectricalandComputerEngineering,UniversityofNewMexico,AlbuquerqueNM,USAe-mail:{ipalunko,rfierro}

2、@ece.unm.eduAbstract:Inthispaper,weaddresstheproblemofquadrotorstabilizationandtrajectorytrackingwithdynamicchangesinthequadrotor’scenterofgravity.ThisproblemhasgreatpracticalsignificanceinmanyUAVapplications.However,ithasreceivedlittleattentioninliteraturesofar.Inthispape

3、r,wepresentanadaptivetrackingcontrollerbasedonoutputfeedbacklinearizationthatcompensatesfordynamicalchangesinthecenterofgravityofthequadrotor.Effectivenessandrobustnessoftheproposedadaptivecontrolschemeisverifiedthroughsimulationresults.Theproposedcontrollerisanimportantste

4、ptowardsdevelopingthenextgenerationofagileautonomousaerialvehicles.Thiscontrolalgorithmenablesaquadrotortodisplayagilemaneuverswhilereconfiguringinrealtimewheneverachangeinthecenterofgravityoccurs.Keywords:AdaptiveControl;NonlinearControl;CenterofMass;UnbalancedUAV;Quadrot

5、orModeling;1.INTRODUCTION[2007]),successfullyexploitCoGdisplacementcompensa-tiontoimprovesystemperformance.InotherareasitisUnmannedaerialvehiclesareincreasinglybeingconsid-usedtoimproverobotperformance.Forexample,inunder-eredasmeansofperformingcomplexfunctionsorassistingw

6、aterroboticsdynamicbalancingoftheCoGisemployedhumansincarryingoutdangerousmissionswithindy-inordertoachievebettermaneuvarbility(Vasilescuetal.namicenvironments.Otherpossibleapplicationsinclude[2010])orforlocomotionofamodularrobotoverunevensearchandrescue,disasterreliefope

7、rations,environmentalandunknownterrain(Molletal.[2006]).monitoring,wirelesssurveillancenetworks,andcoopera-Inthispaper,wepresentanadaptivetrackingcontrollertivemanipulation.Creatingthesetypesofautonomousbasedonoutputfeedbacklinearizationthatcompensatesvehiclesplacessevere

8、demandsonthedesignofcontrolfordynamicalchangesintheCoGofthequadrotor.Weschemesthatcanadapttodiffe