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http://dx.doi.org/10.5139/JKSAS.2021.49.9.749

Model Reference Adaptive Control of a Quadrotor Considering the Uncertainty of Payload  

Lee, Dongwoo (Korea Advanced Institute of Science and Technology)
Kim, Lamsu (Korea Advanced Institute of Science and Technology)
Jang, Kwangwoo (Korea Advanced Institute of Science and Technology)
Lee, Seongheon (Korea Advanced Institute of Science and Technology)
Bang, Hyochoong (Korea Advanced Institute of Science and Technology)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.49, no.9, 2021 , pp. 749-757 More about this Journal
Abstract
In transportation missions using quadrotor, the payload may change the model parameters, such as mass, moment of inertia, and center of gravity. Moreover, if position of the payload is constantly changing during flight, the effect can adversely affect the control performances. To handle this issue, we suggest Model Reference Adaptive Control based on Linear Quadratic Regulator(LQR+MRAC) to compensate the uncertainty caused by payload. Firstly, the mathematical modeling with the fixed payload is derived. Second, Linear Quadratic Regulator (LQR) is used to design the reference model and baseline controller. Also, through the Stability method, Adaptive law is derived to estimate the model parameters. To verify the performance of proposed control scheme, we compared LQR and LQR+MRAC in situations where uncertainties exist. And, when the disturbance exist, the classic MRAC and proposed controller is compared to analyze the transient response and robustness.
Keywords
Model Reference Adaptive Control; Center of Gravity; Payload; Closed-loop Reference Model;
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