지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 131 - 136 (6page)
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초록· 키워드
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In this work, we apply an adaptive observer for estimating the thrust generated by the individual rotors of a quadrotor UAV with uncertain actuator parameters, using a linear dynamic model of the system. In most of the previous works, the implementation of quadrotor control is based on the assumption of a known static relationship between the voltage signal to the motors and the thrust generated by the actuator-propeller assembly. However, due to variations in this voltage-to-thrust relationship, this approach may lead to undesirable results in practice. Feedback of the quadrotor thrust in the control system can provide more robustness to the system. In the absence of accurate knowledge of the actuator parameters, we use an adaptive observer for thrust estimation in this work. An adaptive observer is an algorithm for joint estimation of states and unknown parameters of a dynamical system. We use the adaptive Luenberger observer using two different cost functions, and apply a genetic algorithm to select the design parameters of the observer. We use low- and higher-order models for the actuator with the adaptive observer, and compare their performance. The results show that the estimates from the adaptive observer used with a low-order actuator model match the thrust values obtained from measurements with good accuracy.
목차
Abstract
1. INTRODUCTION
2. SYSTEM MODEL
3. ADAPTIVE LUENBERGEROBSERVER
4. EXPERIMENTAL RESULTS
5. CONCLUSION AND FUTUREWORK
6. ACKNOWLEDGEMENTS
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000912219