Modeling and Control of Reconfigurable Quadrotors Based on Model Reference Adaptive Control
Abstract
:1. Introduction
2. Problem Formulation
3. Modeling and Control Law Design
3.1. Kinematic Model and Dynamic Model
3.2. Model of Pure Translational Reconfiguration
3.3. Model of Pure Rotational Reconfiguration
3.4. Model of Translational Plus Rotational Reconfiguration
3.5. Model Reference Adaptive Control Law Design
4. Simulation and Analysis
4.1. Initialization of Simulation
4.2. Simulation Based on MRAC
4.3. Simulation Result
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Physical Parameter | Value |
---|---|
Mass of motor on the rotor | 60 g |
Mass of driving motor | 80 g |
Length of arm | 40 cm |
Displacement of arm(max) | 20 cm |
Mass of arm | 30 g |
Mass of battery | 400 g |
Mass of ECS | 25 g |
Mass of payload | 250 g |
Physical Parameter | Value |
---|---|
kgm2 | |
kgm2 | |
kgm2 | |
kgm2 | |
0 | |
kgm2 |
Parameter | ||||
---|---|---|---|---|
0.2 m | 2~6 | −0.5~1.0 | −0.5~0.5 | |
0.2 m | 2~6 | −0.5~1.0 | −0.5~0.5 | |
0.2 m | 2~6 | −0.5~1.0 | −0.5~0.5 | |
0.1 rad | 2~6 | −0.5~1.0 | −0.5~0.5 | |
0.15 rad | 2~6 | −0.5~1.0 | −0.5~0.5 | |
0.2 rad | 2~6 | −0.5~1.0 | −0.5~0.5 |
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Liu, Z.; Chen, G.; Xu, S. Modeling and Control of Reconfigurable Quadrotors Based on Model Reference Adaptive Control. Aerospace 2024, 11, 687. https://doi.org/10.3390/aerospace11080687
Liu Z, Chen G, Xu S. Modeling and Control of Reconfigurable Quadrotors Based on Model Reference Adaptive Control. Aerospace. 2024; 11(8):687. https://doi.org/10.3390/aerospace11080687
Chicago/Turabian StyleLiu, Zhiping, Guoshao Chen, and Shuping Xu. 2024. "Modeling and Control of Reconfigurable Quadrotors Based on Model Reference Adaptive Control" Aerospace 11, no. 8: 687. https://doi.org/10.3390/aerospace11080687