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UBS, 2016, Issue 63, Pages 155–181 (Mi ubs893)  

This article is cited in 2 scientific papers (total in 2 papers)

Remote Control and Navigation

Passivity-based method for quadrotor control

A. Belyavskiya, S. Tomashevichba

a ITMO University
b Institute of Problems of Mechanical Engineering, Russian Academy of Sciences, St. Petersburg

Abstract: In the paper we consider the passification-based adaptive control system for stabilization of a quadrotor. We propose an algorithm of altitude and rotation angle which does not require any information about the parameters of the quadrotor. Also our algorithm takes into account the mutual influence of the quadrotor's pitch and roll. We designed the stabilization system using PD-controller and feedback linearization method. Results of simulation are presented and compared with results of two alternative methods.

Keywords: UAV, quadrotor, passivity, adaptive control

Full text: PDF file (665 kB)
References: PDF file   HTML file
UDC: 681.52
BBK: 30
Received: September 17, 2015
Published: September 30, 2016

Citation: A. Belyavskiy, S. Tomashevich, “Passivity-based method for quadrotor control”, UBS, 63 (2016), 155–181

Citation in format AMSBIB
\Bibitem{BelTom16}
\by A.~Belyavskiy, S.~Tomashevich
\paper Passivity-based method for quadrotor control
\jour UBS
\yr 2016
\vol 63
\pages 155--181
\mathnet{http://mi.mathnet.ru/ubs893}
\elib{http://elibrary.ru/item.asp?id=27323144}


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    Citing articles on Google Scholar: Russian citations, English citations
    Related articles on Google Scholar: Russian articles, English articles

    This publication is cited in the following articles:
    1. D. Nikitin, “Adaptive quaternion-based quadrotor control system”, Automation and Remote Control, 80:9 (2019), 1717–1733  mathnet  crossref  elib
    2. B. R. Andrievskii, A. A. Selivanov, “New results on the application of the passification method. A survey”, Autom. Remote Control, 79:6 (2018), 957–995  mathnet  crossref  isi  elib
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