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Adaptive Artificial Time Delay Control for Quadrotors under State-dependent Unknown Dynamics

Dantu, Swati and Yadav, Rishabh Dev and Roy, Spandan and Lee, Jinoh and 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, pp. 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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Official URL: https://ieeexplore.ieee.org/document/10011673

Abstract

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.

Item URL in elib:https://elib.dlr.de/193664/
Document Type:Conference or Workshop Item (Speech)
Title:Adaptive Artificial Time Delay Control for Quadrotors under State-dependent Unknown Dynamics
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Dantu, SwatiUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Yadav, Rishabh DevUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Roy, SpandanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095UNSPECIFIED
Baldi, SimoneUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:18 January 2023
Journal or Publication Title:2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI:10.1109/ROBIO55434.2022.10011673
Page Range:pp. 1092-1097
Publisher:IEEE
ISBN:978-1-6654-8110-6
Status:Published
Keywords:adaptive control, Quadrotors, robotics
Event Title:2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Event Location:Jinghong, China
Event Type:international Conference
Event Start Date:5 December 2022
Event End Date:9 December 2022
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lee, Dr. Jinoh
Deposited On:27 Jan 2023 14:06
Last Modified:24 Apr 2024 20:54

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