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Event driven model free control of quadrotor | IEEE Conference Publication | IEEE Xplore

Event driven model free control of quadrotor


Abstract:

In this paper we propose a new control approach, event driven model free control, which deals with the “tradeoff” between computational cost and system performance. The m...Show More

Abstract:

In this paper we propose a new control approach, event driven model free control, which deals with the “tradeoff” between computational cost and system performance. The model free control scheme demands low computational resources and has high robustness, which is especially suitable for systems with complex dynamics and/or affected by disturbances. Particularly for the embedded systems, the event driven model free control demands even fewer computational resources, since the actuation is allowed only when an event is triggered. The proposed method is implemented on a quadrotor model in different realistic scenarios with disturbances and uncertainties. Under the time and event triggered schemes, the model free control is compared with the backstepping and sliding mode controls in these scenarios.
Date of Conference: 28-30 August 2013
Date Added to IEEE Xplore: 14 November 2013
Electronic ISBN:978-1-4799-1559-0
Print ISSN: 1085-1992
Conference Location: Hyderabad, India

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