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Experimental validation of a new adaptive control scheme for quadrotors MAVs
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.
Cited literature [27 references]
https://hal.inria.fr/hal-00851067
Contributor : Eric Marchand <>
Submitted on : Monday, August 12, 2013 - 10:45:08 AM
Last modification on : Friday, July 10, 2020 - 4:09:12 PM
Long-term archiving on: : Wednesday, April 5, 2017 - 8:48:59 PM
Contributor : Eric Marchand <>
Submitted on : Monday, August 12, 2013 - 10:45:08 AM
Last modification on : Friday, July 10, 2020 - 4:09:12 PM
Long-term archiving on: : Wednesday, April 5, 2017 - 8:48:59 PM
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2013_iros_antonelli.pdf
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