Online Adaptive Parameter Estimation for Quadrotors

Algorithms

Hongping Liu¹  Fujin Luan¹  Jun Zhao¹  Guanbin Gao¹  Xian Wang¹  Jing Na¹ 

[1] Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China;

关键词: adaptive law;    parameter estimation;    quadrotors;    persistent excitation;   

DOI  :  10.3390/a11110167

来源: DOAJ

【 摘 要 】

The stability and robustness of quadrotors are always influenced by unknown or immeasurable system parameters. This paper proposes a novel adaptive parameter estimation technology to obtain high-accuracy parameter estimation for quadrotors. A typical mathematical model of quadrotors is first obtained, which can be used for parameter estimation. Then, an expression of the parameter estimation error is derived by introducing a set of auxiliary filtered variables. Moreover, an augmented matrix is constructed based on the obtained auxiliary filtered variables, which is then used to design new adaptive laws to achieve exponential convergence under the standard persistent excitation (PE) condition. Finally, a simulation and an experimental verification for a typical quadrotor system are shown to illustrate the effectiveness of the proposed method.

【 授权许可】

Unknown