Next Article in Journal
Fractional Order Sliding Mode Control of a Class of Second Order Perturbed Nonlinear Systems: Application to the Trajectory Tracking of a Quadrotor
Next Article in Special Issue
Parameter Estimation of a Class of Neural Systems with Limit Cycles
Previous Article in Journal
High-Gain Observer-Based Sliding-Mode Dynamic Surface Control for Particleboard Glue Mixing and Dosing System
Previous Article in Special Issue
Estimating the Volume of the Solution Space of SMT(LIA) Constraints by a Flat Histogram Method
Article Menu

Export Article

Open AccessArticle
Algorithms 2018, 11(11), 167; https://doi.org/10.3390/a11110167

Online Adaptive Parameter Estimation for Quadrotors

Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China
*
Author to whom correspondence should be addressed.
Received: 11 September 2018 / Revised: 19 October 2018 / Accepted: 23 October 2018 / Published: 25 October 2018
(This article belongs to the Special Issue Parameter Estimation Algorithms and Its Applications)
Full-Text   |   PDF [2579 KB, uploaded 25 October 2018]   |  

Abstract

The stability and robustness of quadrotors are always influenced by unknown or immeasurable system parameters. This paper proposes a novel adaptive parameter estimation technology to obtain high-accuracy parameter estimation for quadrotors. A typical mathematical model of quadrotors is first obtained, which can be used for parameter estimation. Then, an expression of the parameter estimation error is derived by introducing a set of auxiliary filtered variables. Moreover, an augmented matrix is constructed based on the obtained auxiliary filtered variables, which is then used to design new adaptive laws to achieve exponential convergence under the standard persistent excitation (PE) condition. Finally, a simulation and an experimental verification for a typical quadrotor system are shown to illustrate the effectiveness of the proposed method. View Full-Text
Keywords: adaptive law; parameter estimation; quadrotors; persistent excitation adaptive law; parameter estimation; quadrotors; persistent excitation
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Zhao, J.; Wang, X.; Gao, G.; Na, J.; Liu, H.; Luan, F. Online Adaptive Parameter Estimation for Quadrotors. Algorithms 2018, 11, 167.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Algorithms EISSN 1999-4893 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top