L1 adaptive control for quadcopter: Design and implementation

Unmanned Aerial Vehicles have a lot of potentials in outdoor applications. However, uncertainties such as wind disturbances and mass change when performing some particular tasks, greatly affect their tracking performance. This paper presents a methodology using L 1 adaptive control to address some o...

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Bibliographic Details
Published in2014 13th International Conference on Control Automation Robotics & Vision (ICARCV) pp. 1496 - 1501
Main Authors Minh Quan Huynh, Weihua Zhao, Lihua Xie
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2014
Subjects
Acceleration
Adaptation models
Adaptive control
Equations
Estimation
Mathematical model
quadcopter
UAV
Upper bound
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DOI10.1109/ICARCV.2014.7064537

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Summary:Unmanned Aerial Vehicles have a lot of potentials in outdoor applications. However, uncertainties such as wind disturbances and mass change when performing some particular tasks, greatly affect their tracking performance. This paper presents a methodology using L 1 adaptive control to address some of the robustness issues of the quadcopter in outdoor flight which significantly improves the performance comparing to the baseline controller. Simulation and flight tests verify the potential of the presented controller.
DOI:10.1109/ICARCV.2014.7064537