Dantu, Swati und Yadav, Rishabh Dev und Roy, Spandan und Lee, Jinoh und Baldi, Simone (2023) Adaptive Artificial Time Delay Control for Quadrotors under State-dependent Unknown Dynamics. In: 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022, Seiten 1092-1097. IEEE. 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2022-12-05 - 2022-12-09, Jinghong, China. doi: 10.1109/ROBIO55434.2022.10011673. ISBN 978-1-6654-8110-6.
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Offizielle URL: https://ieeexplore.ieee.org/document/10011673
Kurzfassung
Quadrotors are becoming more and more essential for applications such as payload delivery, inspection and search-and-rescue. Such operations pose considerable control challenges, especially when various (a priori unbounded) state-dependent unknown dynamics arises from payload variations, aerodynamic effects and from reaction forces while operating close to the ground or in a confined space. However, existing adaptive control strategies for quadrotors cannot handle unknown state-dependent uncertainties. We address such unsolved control challenge in this work via a novel adaptive method for artificial time delay control,where unknown dynamics is robustly compensated by using input and state measurements collected at immediate past time instant (i.e., artificially delayed). Closed-loop stability is established via Lyapunov theory. The effectiveness of this controller is validated using experimental results.
elib-URL des Eintrags: | https://elib.dlr.de/193664/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
Titel: | Adaptive Artificial Time Delay Control for Quadrotors under State-dependent Unknown Dynamics | ||||||||||||||||||||||||
Autoren: |
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Datum: | 18 Januar 2023 | ||||||||||||||||||||||||
Erschienen in: | 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||
DOI: | 10.1109/ROBIO55434.2022.10011673 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 1092-1097 | ||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||
ISBN: | 978-1-6654-8110-6 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | adaptive control, Quadrotors, robotics | ||||||||||||||||||||||||
Veranstaltungstitel: | 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) | ||||||||||||||||||||||||
Veranstaltungsort: | Jinghong, China | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 5 Dezember 2022 | ||||||||||||||||||||||||
Veranstaltungsende: | 9 Dezember 2022 | ||||||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Laufroboter/Lokomotion [RO] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||
Hinterlegt von: | Lee, Dr. Jinoh | ||||||||||||||||||||||||
Hinterlegt am: | 27 Jan 2023 14:06 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:54 |
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