Quadrotor system design for a 3 DOF platform based on iterative learning control

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dc.contributor.authorFoudeh, Husam A.
dc.contributor.authorLuk, Patrick Chi-Kwong
dc.contributor.authorWhidborne, James F.
dc.date.accessioned2021-04-13T10:20:31Z
dc.date.available2021-04-13T10:20:31Z
dc.date.issued2020-02-17
dc.description.abstractResearch into autonomous control and behaviour of mobile vehicles has become more and more widespread. Unmanned aerial vehicles (UAVs) have seen an upsurge of interest and of the many UAVs available, the quadrotor has shown significant potential in monitoring and surveillance tasks. This paper examines the performance of iterative learning control (ILC) in gradient-based control that enhances a quadrotor's controllability and stability during attitude control. It describes the development of the learning algorithms which exploit the repeated nature of the fault-finding task. Iterative learning control algorithms are derived and implemented on a quadrotor in a test bench. The proposed ILC algorithms on the quadrotor model are evaluated for system stability, convergence speed, and trajectory tracking error. Finally, the performance of the proposed algorithms is compared against a baseline performance of the PID control schemesen_UK
dc.identifier.citationFoudeh HA, Luk PC, Whidborne JF. (2020) Quadrotor system design for a 3 DOF platform based on iterative learning control. In: 2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS), 25-27 November 2019, Cranfield, UKen_UK
dc.identifier.urihttps://doi.org/10.1109/REDUAS47371.2019.8999691
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/16557
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectquadrotor system designen_UK
dc.subject3 DOF platformen_UK
dc.subjectautonomous controlen_UK
dc.subjectILC algorithmsen_UK
dc.subjectunmanned aerial vehiclesen_UK
dc.subjectadaptive controlen_UK
dc.titleQuadrotor system design for a 3 DOF platform based on iterative learning controlen_UK
dc.typeConference paperen_UK

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