Passivity-based Adaptive Control of Quadrotors with Mass and Moment of Inertia Uncertainties

Jeyoung Song; Dong Eui Chang; Yongsoon Eun

doi:10.1109/CDC40024.2019.9029780

Passivity-based Adaptive Control of Quadrotors with Mass and Moment of Inertia Uncertainties

Jeyoung Song
, Dong Eui Chang
, Yongsoon Eun

Department of Electrical Engineering and Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

This paper provides a passivity based adaptive trajectory tracking controller for quadrotor dynamics. The proposed controller guarantees global asymptotic tracking for any desired smooth trajectory, and this is achieved, through parameter adaptations, without precisely knowing the mass and moment of inertia of the quadrotor. A convergence criterion for the mass estimate is given. In addition, bounded disturbances on the thrust and torque are considered, and it is shown that the tracking error is globally bounded under mild conditions. Simulations are carried out to illustrate the control performance.

Original language	English
Title of host publication	2019 IEEE 58th Conference on Decision and Control, CDC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	90-95
Number of pages	6
ISBN (Electronic)	9781728113982
DOIs	https://doi.org/10.1109/CDC40024.2019.9029780
State	Published - Dec 2019
Event	58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France Duration: 11 Dec 2019 → 13 Dec 2019

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2019-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	58th IEEE Conference on Decision and Control, CDC 2019
Country/Territory	France
City	Nice
Period	11/12/19 → 13/12/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

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10.1109/CDC40024.2019.9029780

Cite this

Song, J., Chang, D. E., & Eun, Y. (2019). Passivity-based Adaptive Control of Quadrotors with Mass and Moment of Inertia Uncertainties. In 2019 IEEE 58th Conference on Decision and Control, CDC 2019 (pp. 90-95). Article 9029780 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC40024.2019.9029780

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title = "Passivity-based Adaptive Control of Quadrotors with Mass and Moment of Inertia Uncertainties",

abstract = "This paper provides a passivity based adaptive trajectory tracking controller for quadrotor dynamics. The proposed controller guarantees global asymptotic tracking for any desired smooth trajectory, and this is achieved, through parameter adaptations, without precisely knowing the mass and moment of inertia of the quadrotor. A convergence criterion for the mass estimate is given. In addition, bounded disturbances on the thrust and torque are considered, and it is shown that the tracking error is globally bounded under mild conditions. Simulations are carried out to illustrate the control performance.",

author = "Jeyoung Song and Chang, \{Dong Eui\} and Yongsoon Eun",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 58th IEEE Conference on Decision and Control, CDC 2019 ; Conference date: 11-12-2019 Through 13-12-2019",

year = "2019",

month = dec,

doi = "10.1109/CDC40024.2019.9029780",

language = "English",

series = "Proceedings of the IEEE Conference on Decision and Control",

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Song, J, Chang, DE & Eun, Y 2019, Passivity-based Adaptive Control of Quadrotors with Mass and Moment of Inertia Uncertainties. in 2019 IEEE 58th Conference on Decision and Control, CDC 2019., 9029780, Proceedings of the IEEE Conference on Decision and Control, vol. 2019-December, Institute of Electrical and Electronics Engineers Inc., pp. 90-95, 58th IEEE Conference on Decision and Control, CDC 2019, Nice, France, 11/12/19. https://doi.org/10.1109/CDC40024.2019.9029780

Passivity-based Adaptive Control of Quadrotors with Mass and Moment of Inertia Uncertainties. / Song, Jeyoung; Chang, Dong Eui; Eun, Yongsoon.
2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 90-95 9029780 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper provides a passivity based adaptive trajectory tracking controller for quadrotor dynamics. The proposed controller guarantees global asymptotic tracking for any desired smooth trajectory, and this is achieved, through parameter adaptations, without precisely knowing the mass and moment of inertia of the quadrotor. A convergence criterion for the mass estimate is given. In addition, bounded disturbances on the thrust and torque are considered, and it is shown that the tracking error is globally bounded under mild conditions. Simulations are carried out to illustrate the control performance.

AB - This paper provides a passivity based adaptive trajectory tracking controller for quadrotor dynamics. The proposed controller guarantees global asymptotic tracking for any desired smooth trajectory, and this is achieved, through parameter adaptations, without precisely knowing the mass and moment of inertia of the quadrotor. A convergence criterion for the mass estimate is given. In addition, bounded disturbances on the thrust and torque are considered, and it is shown that the tracking error is globally bounded under mild conditions. Simulations are carried out to illustrate the control performance.

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U2 - 10.1109/CDC40024.2019.9029780

DO - 10.1109/CDC40024.2019.9029780

M3 - Conference contribution

AN - SCOPUS:85082488383

T3 - Proceedings of the IEEE Conference on Decision and Control

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BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 58th IEEE Conference on Decision and Control, CDC 2019

Y2 - 11 December 2019 through 13 December 2019

ER -

Passivity-based Adaptive Control of Quadrotors with Mass and Moment of Inertia Uncertainties

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