Modeling of Parrot Ardrone and passivity-based reset control

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.