Implementation of an Interpolated Model Reference Control Scheme

被引：1
|
作者：
Vile, Liam [1 ]
Alwi, Halim [1 ]
Edwards, Christopher [1 ]
机构：
[1] Univ Exeter, Coll Engn Math & Phys Sci, Exeter EX4 4QF, Devon, England
来源：
2022 16TH INTERNATIONAL WORKSHOP ON VARIABLE STRUCTURE SYSTEMS (VSS) | 2022年
关键词：
D O I：
10.1109/VSS57184.2022.9902017
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper demonstrates the implementability of a linear parameter varying control scheme which aims to prevent actuator saturation. The control scheme is based on a model reference sliding mode controller with control allocation. To prevent saturation the reference model is optimised online through a computationally-light bisection-like algorithm which aims to give the best performance possible within actuator constraints. The scheme's efficacy is demonstrated via implementation and flight tests of a Parrot rolling spider mini-drone.
引用
收藏
页码：35 / 40
页数：6
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