Data-driven attitude control law of a variable-pitch quadrotor: a comparison study

被引：12

作者：

Invernizzi, Davide ^{[1
]}

Panizza, Pietro ^{[1
]}

Riccardi, Fabio ^{[1
]}

Formentin, Simone ^{[2
]}

Lovera, Marco ^{[1
]}

机构：

[1] Politecn Milan, Dipartimento Sci & Tecnol Aerospaziali, Via La Masa 34, I-20156 Milan, Italy

[2] Politecn Milan, Dipartimento Elettron Informaz & Bioingn, Piazza Leonardo Vinci 32, I-20133 Milan, Italy

来源：

IFAC PAPERSONLINE | 2016年 / 49卷 / 17期

关键词：

DESIGN;

D O I：

10.1016/j.ifacol.2016.09.041

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the problem of tuning a cascade attitude control system of a variable-pitch quadrotor UAV is tackled, comparing two non-iterative data-driven approaches. The first method is the Virtual Reference Feedback Tuning (VRFT) while the second one is the Correlation based Tuning (ChT), both modified in order to tune both the inner and the outer loops by means of a single set of experimental data. These methods allow a fast tuning of controller parameters directly from data, Without relying on an accurate knowledge of the plant dynamics. The experimental tests are performed on a variable-pitch quadrotor which operates indoor on a dedicated test bench that allows only the pitch attitude degree of freedom of the vehicle. (C) 2016, IFAC (International Federation of Automatic Control) Hosting Elsevier Ltd. All rights reseirved.

引用

页码：236 / 241

页数：6

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