Experimental validation of a new adaptive control scheme for quadrotors MAVs

Gianluca Antonelli, 1 Elisabetta Cataldi, 1 Paolo Robuffo Giordano 2 Stefano Chiaverini 1 Antonio Franchi 3
1 UNICAS - Universita degli studi di Cassino
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
3 MPI - Max Planck Institute for Biological Cybernetics
Abstract : In this paper, an adaptive trajectory tracking controller for quadrotor MAVs is presented. The controller exploits the common assumption of a faster orientation dy- namics w.r.t. the translational one, and is able to asymptotically compensate for parametric uncertainties (e.g., displaced center of mass), as well as external disturbances (e.g., wind). The good performance of the proposed controller is then demonstrated by means of an extensive experimental evaluation performed with a commercially-available quadrotor MAV.
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Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.2439-2444, 2013
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Gianluca Antonelli,, Elisabetta Cataldi,, Paolo Robuffo Giordano, Stefano Chiaverini, Antonio Franchi. Experimental validation of a new adaptive control scheme for quadrotors MAVs. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.2439-2444, 2013. 〈hal-00851067〉

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