Stanislav Tomashevich

Stability and performance of networked control of quadrocopters formation flight

Stability conditions of the formation of linear SISO agents are described and applied to formation of 25 autonomous quadrocopters. The various information flow graphs are studied from the viewpoints of the formation stability and achievement of the consensus. A way for improving the system performance is proposed and demonstrated by the frequency response analysis and simulation.

Passification based simple adaptive control of quadrotor attitude: Algorithms and testbed results

In the paper, the results of the Passification Method with the Implicit Reference Model (IRM) approach are applied for designing the simple adaptive controller for quadrotor attitude. The IRM design technique makes it possible to relax the matching condition, known for habitual MRAC systems, and leads to simple adaptive controllers, ensuring fast tuning the controller gains, high robustness with respect to nonlinearities in the control loop, to the external disturbances and the unmodeled plant dynamics. For experimental evaluation of the adaptive systems performance, the 2DOF laboratory setup has been created. The testbed allows to safely test new control algorithms in the laboratory area with a small space and promptly make changes in cases of failure. The testing results of simple adaptive control of quadrotor attitude are presented, demonstrating efficacy of the applied simple adaptive control method. The experiments demonstrate good performance quality and high adaptation rate of the simple adaptive control system.In the paper, the results of the Passification Method with the Implicit Reference Model (IRM) approach are applied for designing the simple adaptive controller for quadrotor attitude. The IRM design technique makes it possible to relax the matching condition, known for habitual MRAC systems, and leads to simple adaptive controllers, ensuring fast tuning the controller gains, high robustness with respect to nonlinearities in the control loop, to the external disturbances and the unmodeled plant dynamics. For experimental evaluation of the adaptive systems performance, the 2DOF laboratory setup has been created. The testbed allows to safely test new control algorithms in the laboratory area with a small space and promptly make changes in cases of failure. The testing results of simple adaptive control of quadrotor attitude are presented, demonstrating efficacy of the applied simple adaptive control method. The experiments demonstrate good performance quality and high adaptation rate of the simple adaptive c...

Application of 2DOF Quadrotor-based Laboratory Testbed for engineering education

The paper is devoted to application of the novel 2DOF Quadrotor-based Laboratory Testbed for engineering education in the such the disciplines as Automatic Control, Adaptation and Identification, Real-time Control Systems, Data and Signal Processing, Telecommunications, Information Theory, Flight Dynamics, high- and low-level Programming Languages. The testbed is based on a quadrotor, mounted in the gimbals. Testbed is aimed for debugging and pre-flight testing the quadrotor control algorithms, for scientific research and education. In the paper, construction of the Testbed is briefly described and the experience of its usage for engineering education in the ITMO University is outlined.

Simple adaptive control of quadrotor attitude. Algorithms and experimental results

In the paper the simple adaptive control approach is employed to designing the adaptive controllers of quadrotor angular motion. The adaptive controllers are synthesized based on the Implicit Reference Model (IRM) design technique. The “shunting method” (parallel feedforward compensation) is used to cope with the unmodelled plant dynamics. Analytical justification of system stability is made by employing the Passification method. Quality of the closed-loop IRM adaptive control system is studied and compared with that of the proportionalderivative (PD) non-adaptive control system experimentally on two degrees of freedom (2DOF) quadrotor testbed and in-flight tests of the QuadRoy quadrotor for nominal and parametrically perturbed cases.