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Tain-Sou Tsay

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Tain-Sou Tsay

WSEAS Transactions on Systems

Print ISSN: 1109-2777
E-ISSN: 2224-2678

Volume 17, 2018

Notice: As of 2014 and for the forthcoming years, the publication frequency/periodicity of WSEAS Journals is adapted to the 'continuously updated' model. What this means is that instead of being separated into issues, new papers will be added on a continuous basis, allowing a more regular flow and shorter publication times. The papers will appear in reverse order, therefore the most recent one will be on top.

Volume 17, 2018

Model based Adaptive Controller for Quadrotor UAV with Different Payload

AUTHORS: Tain-Sou Tsay

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ABSTRACT: In this paper, an adaptive piecewise linear control scheme for Quadrotor Unman Autonomous Vehicle(UAV) with specifications on rise times is proposed. It is a gain stabilized control technique. Large gain is used for large tracking error to get fast response. Small gain is used between large and small tracking error for good performance. Large gain is used again for small tracking error to cope with disturbance. The switching point of the three segments piecewise linear controller is found by an automatic regulating time series which is function of output characteristics of the plant and reference model. Time series will be converged to steady values after the time response of the considered system matching that of the reference model. The proposed control scheme is illustrated by a second order altitude control example. It gives an almost command independent response. Time responses show that the proposed method gives significant improvements for response time and performance. The same designing procedures are applied to Quadrotor UAV for different pay load.

KEYWORDS: Piecewise linear controller, Adaptive gain, Model based Controller, Quadrotor, UAV


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WSEAS Transactions on Systems, ISSN / E-ISSN: 1109-2777 / 2224-2678, Volume 17, 2018, Art. #31, pp. 276-283

Copyright Β© 2018 Author(s) retain the copyright of this article. This article is published under the terms of the Creative Commons Attribution License 4.0

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