Modeling of Parrot Ardrone and passivity-based reset control

Author

Falcon, Pablo ; Barreiro, Antonio ; Cacho, Miguel D.

Author_Institution

Dept. of Syst. Eng. & Autom., Univ. of Vigo, Vigo, Spain

fYear

2013

fDate

23-26 June 2013

Firstpage

1

Lastpage

6

Abstract

This paper is motivated by the teleoperation of a quadcopter (Parrot ARDrone). This problem is addressed within the framework of passivity and by the reset control. First, the quadcopter model is identified from input-output experimental data. Second, the plant model is passified by nonlinear gain compensation and pole/zero cancelation. Finally, the passified plant model is controlled by a reset controller. The very-strict passivity (VSP) of the reset controller has been proven and discussed. Final simulations show the validity of the approach.

Keywords

aerospace control; helicopters; mobile robots; nonlinear control systems; telerobotics; Parrot Ardrone modeling; VSP; input-output experimental data; nonlinear gain compensation; passified plant model; passivity based reset control; pole-zero cancelation; quadcopter model; quadcopter teleoperation; reset control; very strict passivity; Closed loop systems; Data models; Delays; Equations; Mathematical model; Stability analysis; Quadcopter; identification; passivity; reset control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ASCC), 2013 9th Asian

Conference_Location

Istanbul

Print_ISBN

978-1-4673-5767-8

Type

conf

DOI

10.1109/ASCC.2013.6606362

Filename

6606362