鹦鹉Ardrone建模及基于被动的复位控制

2013 9th Asian Control Conference (ASCC) Pub Date : 2013-06-23 DOI:10.1109/ASCC.2013.6606362

Pablo Falcón, A. Barreiro, M. Díaz-Cacho

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引用次数: 11

摘要

本文的动机是远程操作的四轴飞行器(鹦鹉无人机)。这个问题是在被动框架和复位控制解决。首先，从输入输出实验数据中识别四轴飞行器模型。其次，采用非线性增益补偿和极点零抵消对被控对象模型进行钝化。最后，通过复位控制器对被钝化的对象模型进行控制。对复位控制器的严格无源性(VSP)进行了验证和讨论。最后的仿真验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modeling of Parrot Ardrone and passivity-based reset control

This paper is motivated by the teleoperation of a quadcopter (Parrot ARDrone). This problem is addressed within the framework of passivity and by the reset control. First, the quadcopter model is identified from input-output experimental data. Second, the plant model is passified by nonlinear gain compensation and pole/zero cancelation. Finally, the passified plant model is controlled by a reset controller. The very-strict passivity (VSP) of the reset controller has been proven and discussed. Final simulations show the validity of the approach.

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2013 9th Asian Control Conference (ASCC)

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