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), 05-09 Dec 2022, 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/ | ||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||
Title: | Adaptive Artificial Time Delay Control for Quadrotors under State-dependent Unknown Dynamics | ||||||||||||||||||||||||
Authors: |
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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 Dates: | 05-09 Dec 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: | 27 Jan 2023 14:06 |
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