{"title":"鹦鹉Ardrone建模及基于被动的复位控制","authors":"Pablo Falcón, A. Barreiro, M. Díaz-Cacho","doi":"10.1109/ASCC.2013.6606362","DOIUrl":null,"url":null,"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.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"60 1","pages":"1-6"},"PeriodicalIF":0.0000,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":"{\"title\":\"Modeling of Parrot Ardrone and passivity-based reset control\",\"authors\":\"Pablo Falcón, A. Barreiro, M. Díaz-Cacho\",\"doi\":\"10.1109/ASCC.2013.6606362\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":6304,\"journal\":{\"name\":\"2013 9th Asian Control Conference (ASCC)\",\"volume\":\"60 1\",\"pages\":\"1-6\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-06-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"11\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 9th Asian Control Conference (ASCC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ASCC.2013.6606362\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 9th Asian Control Conference (ASCC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ASCC.2013.6606362","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Modeling of Parrot Ardrone and passivity-based reset control
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.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
