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

页码：35 / 40

页数：6

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