Model Reference Adaptive Control and LQR Control for Quadrotor with Parametric Uncertainties
A model reference adaptive control and a fixed gain
LQR control were implemented in the height controller of a quadrotor
that has parametric uncertainties due to the act of picking up an
object of unknown dimension and mass. It is shown that an adaptive
controller, unlike the fixed gain controller, is capable of ensuring a
stable tracking performance under such condition, although adaptive
control suffers from several limitations. The combination of both
adaptive and fixed gain control in the controller architecture can
result in an enhanced tracking performance in the presence parametric
uncertainties.
[1] D. Mellinger, Q. Lindsey, M. Shomin, and V. Kumar, “Design,
modeling, estimation and control for aerial grasping and manipulation,”
in Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International
Conference on. IEEE, 2011, pp. 2668–2673.
[2] Q. Lindsey, D. Mellinger, and V. Kumar, “Construction with quadrotor
teams,” Autonomous Robots, vol. 33, no. 3, pp. 323–336, 2012.
[3] D. Mellinger, N. Michael, and V. Kumar, “Trajectory generation
and control for precise aggressive maneuvers with quadrotors,” The
International Journal of Robotics Research, p. 0278364911434236,
2012.
[4] A. Jimenez-Cano, J. Martin, G. Heredia, A. Ollero, and R. Cano,
“Control of an aerial robot with multi-link arm for assembly tasks,” in
Robotics and Automation (ICRA), 2013 IEEE International Conference
on. IEEE, 2013, pp. 4916–4921.
[5] S. Kim, S. Choi, and H. J. Kim, “Aerial manipulation using a quadrotor
with a two dof robotic arm,” in Intelligent Robots and Systems (IROS),
2013 IEEE/RSJ International Conference on. IEEE, 2013, pp. 4990–
4995.
[6] M. Orsag, C. Korpela, and P. Oh, “Modeling and control of mm-uav:
Mobile manipulating unmanned aerial vehicle,” Journal of Intelligent &
Robotic Systems, vol. 69, no. 1-4, pp. 227–240, 2013.
[7] T. Yucelen and A. J. Calise, “Derivative-free model reference adaptive
control,” Journal of Guidance, Control, and Dynamics, vol. 34, no. 4,
pp. 933–950, 2011.
[8] H. P. Whitaker, J. Yamron, and A. Kezer, Design of model-reference
adaptive control systems for aircraft. Massachusetts Institute of
Technology, Instrumentation Laboratory, 1958.
[9] I. Landau, “A survey of model reference adaptive techniquestheory and
applications,” Automatica, vol. 10, no. 4, pp. 353–379, 1974.
[10] C.-C. Hang and P. Parks, “Comparative studies of model reference
adaptive control systems,” Automatic Control, IEEE Transactions on,
vol. 18, no. 5, pp. 419–428, 1973.
[11] K. J. A˚ stro¨m, “Theory and applications of adaptive controla survey,”
Automatica, vol. 19, no. 5, pp. 471–486, 1983.
[12] B. Anderson, “Adaptive systems, lack of persistency of excitation and
bursting phenomena,” Automatica, vol. 21, no. 3, pp. 247–258, 1985.
[13] Z. T. Dydek, A. M. Annaswamy, and E. Lavretsky, “Adaptive control of
quadrotor uavs: A design trade study with flight evaluations,” Control
Systems Technology, IEEE Transactions on, vol. 21, no. 4, pp. 1400–
1406, 2013.
[14] J. Wang, V. Patel, C. Woolsey, N. Hovakimyan, and D. Schmale, “L1
adaptive control of a uav for aerobiological sampling,” in American
Control Conference, 2007. ACC’07. IEEE, 2007, pp. 4660–4665.
[15] S. Bouabdallah and R. Siegwart, “Full control of a quadrotor,” in Proc. of
The IEEE International Conference on Intelligent Robots (IROS), 2007.
[16] S. Bouabdallah, P. Murrieri, and R. Siegwart, “Design and control of an
indoor micro quadrotor,” in Proc. of The International Conference on
Robotics and Automation (ICRA), 2004.
[17] S. Bouabdallah and R. Siegwart, “Backstepping and sliding-mode
techniques applied to an indoor micro quadrotor,” in Proc. of The IEEE
International Conference on Robotics and Automation (ICRA), 2005.
[18] S. Bouabdallah, “Design and control of quadrotors with application to
autonomous flying,” Lausanne Polytechnic University, 2007.
[19] K. J. Astrom and R. M. Murray, “Feedback systems: An introduction
for scientists and engineers,” Tech. Rep., 2007.
[20] I. Sonnevend, “Analysis and model based control of a quadrotor
helicopter.” [21] MathWorks. (2014) Documentation center: Linear-quadratic regulator (lqr) design @ONLINE. (Online). Available: http://www.mathworks.com/help/control/ref/lqr.html
[22] K. J. A˚ stro¨m and B. Wittenmark, Adaptive Control. Courier Dover
Publications, 2008.
[23] J. Matthew, N. B. Knoebel, S. R. Osborne, R.W. Beard, and A. Eldredge,
“Adaptive backstepping control for miniature air vehicles,” in American
Control Conference, 2006. IEEE, 2006, pp. 6–pp.
[24] Q. Inc., 3-DOF Helicopter: Reference Manual, Quanser Inc.
[1] D. Mellinger, Q. Lindsey, M. Shomin, and V. Kumar, “Design,
modeling, estimation and control for aerial grasping and manipulation,”
in Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International
Conference on. IEEE, 2011, pp. 2668–2673.
[2] Q. Lindsey, D. Mellinger, and V. Kumar, “Construction with quadrotor
teams,” Autonomous Robots, vol. 33, no. 3, pp. 323–336, 2012.
[3] D. Mellinger, N. Michael, and V. Kumar, “Trajectory generation
and control for precise aggressive maneuvers with quadrotors,” The
International Journal of Robotics Research, p. 0278364911434236,
2012.
[4] A. Jimenez-Cano, J. Martin, G. Heredia, A. Ollero, and R. Cano,
“Control of an aerial robot with multi-link arm for assembly tasks,” in
Robotics and Automation (ICRA), 2013 IEEE International Conference
on. IEEE, 2013, pp. 4916–4921.
[5] S. Kim, S. Choi, and H. J. Kim, “Aerial manipulation using a quadrotor
with a two dof robotic arm,” in Intelligent Robots and Systems (IROS),
2013 IEEE/RSJ International Conference on. IEEE, 2013, pp. 4990–
4995.
[6] M. Orsag, C. Korpela, and P. Oh, “Modeling and control of mm-uav:
Mobile manipulating unmanned aerial vehicle,” Journal of Intelligent &
Robotic Systems, vol. 69, no. 1-4, pp. 227–240, 2013.
[7] T. Yucelen and A. J. Calise, “Derivative-free model reference adaptive
control,” Journal of Guidance, Control, and Dynamics, vol. 34, no. 4,
pp. 933–950, 2011.
[8] H. P. Whitaker, J. Yamron, and A. Kezer, Design of model-reference
adaptive control systems for aircraft. Massachusetts Institute of
Technology, Instrumentation Laboratory, 1958.
[9] I. Landau, “A survey of model reference adaptive techniquestheory and
applications,” Automatica, vol. 10, no. 4, pp. 353–379, 1974.
[10] C.-C. Hang and P. Parks, “Comparative studies of model reference
adaptive control systems,” Automatic Control, IEEE Transactions on,
vol. 18, no. 5, pp. 419–428, 1973.
[11] K. J. A˚ stro¨m, “Theory and applications of adaptive controla survey,”
Automatica, vol. 19, no. 5, pp. 471–486, 1983.
[12] B. Anderson, “Adaptive systems, lack of persistency of excitation and
bursting phenomena,” Automatica, vol. 21, no. 3, pp. 247–258, 1985.
[13] Z. T. Dydek, A. M. Annaswamy, and E. Lavretsky, “Adaptive control of
quadrotor uavs: A design trade study with flight evaluations,” Control
Systems Technology, IEEE Transactions on, vol. 21, no. 4, pp. 1400–
1406, 2013.
[14] J. Wang, V. Patel, C. Woolsey, N. Hovakimyan, and D. Schmale, “L1
adaptive control of a uav for aerobiological sampling,” in American
Control Conference, 2007. ACC’07. IEEE, 2007, pp. 4660–4665.
[15] S. Bouabdallah and R. Siegwart, “Full control of a quadrotor,” in Proc. of
The IEEE International Conference on Intelligent Robots (IROS), 2007.
[16] S. Bouabdallah, P. Murrieri, and R. Siegwart, “Design and control of an
indoor micro quadrotor,” in Proc. of The International Conference on
Robotics and Automation (ICRA), 2004.
[17] S. Bouabdallah and R. Siegwart, “Backstepping and sliding-mode
techniques applied to an indoor micro quadrotor,” in Proc. of The IEEE
International Conference on Robotics and Automation (ICRA), 2005.
[18] S. Bouabdallah, “Design and control of quadrotors with application to
autonomous flying,” Lausanne Polytechnic University, 2007.
[19] K. J. Astrom and R. M. Murray, “Feedback systems: An introduction
for scientists and engineers,” Tech. Rep., 2007.
[20] I. Sonnevend, “Analysis and model based control of a quadrotor
helicopter.” [21] MathWorks. (2014) Documentation center: Linear-quadratic regulator (lqr) design @ONLINE. (Online). Available: http://www.mathworks.com/help/control/ref/lqr.html
[22] K. J. A˚ stro¨m and B. Wittenmark, Adaptive Control. Courier Dover
Publications, 2008.
[23] J. Matthew, N. B. Knoebel, S. R. Osborne, R.W. Beard, and A. Eldredge,
“Adaptive backstepping control for miniature air vehicles,” in American
Control Conference, 2006. IEEE, 2006, pp. 6–pp.
[24] Q. Inc., 3-DOF Helicopter: Reference Manual, Quanser Inc.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:68999", author = "Alia Abdul Ghaffar and Tom Richardson", title = "Model Reference Adaptive Control and LQR Control for Quadrotor with Parametric Uncertainties", abstract = "A model reference adaptive control and a fixed gain
LQR control were implemented in the height controller of a quadrotor
that has parametric uncertainties due to the act of picking up an
object of unknown dimension and mass. It is shown that an adaptive
controller, unlike the fixed gain controller, is capable of ensuring a
stable tracking performance under such condition, although adaptive
control suffers from several limitations. The combination of both
adaptive and fixed gain control in the controller architecture can
result in an enhanced tracking performance in the presence parametric
uncertainties.
", keywords = "UAV, quadrotor, model reference adaptive control, LQR control.", volume = "9", number = "2", pages = "244-7", }
