Quadrotors UAVs Control by the L1 Adaptive Control Based on Piecewise-Constant Adaptive Laws
| Autor: | Liang,Wei-Chin, 梁維智 |
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| Rok vydání: | 2019 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 108 The quadrotor unmanned aerial vehicle (UAV) is an underactuateud system, and it is difficult for only four actuators to control arbitrary six-degree-of-freedom motion in the three-dimensional. We must adjust the rotation speed to change the thrust that UAC can along the X,Y,Z-axis translation and the yaw rotation. First we use the Newton’s second law and Euler equation of motion to derive the motion model of UAV. Consider the L1 piecewise-constant adaptive laws substitute model into quadrotor, Analyze the root locus of the filter adjusting the L1 piecewise-constant adaptives the sampling time to design the controller. In the simulation, trajectory the three-axis translation and the steering motion around the Z-axis. Finally, two sets of desired trajectories are given then use LQ optimization tracing control to find the reference signal such that the behavior of the reference model approaches the desired trajectory, the Quadrotor can fly along the desired trajectory. At last verify the quadrotor is flying according to the desired trajectory to check the controller has achieved the desired tracking performance. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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