Adaptive control of quadrotor UAVS in the presence of actuator uncertainties

AIAA Infotech at Aerospace 2010

Volumn , Issue , 2010, Pages

  Dydek, Zachary T ^a   Annaswamy, Anuradha M ^a   Lavretsky, Eugene ^b  

^a Massachusetts Institute of Technology   (United States)

^b BOEING COMPANY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE CONTROL; ADAPTIVE CONTROLLERS; COMPONENT FAILURES; FLIGHT TEST; FLIGHT TESTING; INDOOR TEST FACILITIES; LIGHT WEIGHT; LINEAR CONTROLLERS; LYAPUNOV STABILITY; PARAMETRIC UNCERTAINTIES; PHYSICAL DAMAGES; PROOF OF STABILITY; QUADROTORS; UAV PLATFORM; WAYPOINTS;

ADAPTIVE CONTROL SYSTEMS; CONTROLLERS; LINEAR CONTROL SYSTEMS; TELECOMMUNICATION NETWORKS;

MODEL REFERENCE ADAPTIVE CONTROL;

EID: 78650010380     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. Benallegue, A., Mokhtari, A., and Fridman, L., "High-order sliding-mode observer for a quadrotor UAV," International Journal of Robust and Nonlinear Control, Vol. 18, No. 4, 2008, pp. 427-440.
2. Kim, J., Model-Error Control Synthesis: A new Approach to Robust Control, Ph.D. thesis, Texas A&M University, 2002.
3. Castillo, P., Lozano, R., and Dzul, A., Modelling and control of mini-flying machines, Springer-Verlag New York Inc, 2005.
4. Schwager, M., Annaswamy, A. M., and Lavretsky, E., "Adaptation-Based Reconfiguration in the Presence of Actuator Failures and Saturation," Proc. American Control Conference, Portland, Oregon, June 2005, pp. 2640-2645.
5. Tournier, G., Valenti, M., How, J., and Feron, E., "Estimation and control of a quadrotor vehicle using monocular vision and moirè patterns," AIAA Guidance, Navigation and Control Conference and Exhibit, Citeseer, 2006, pp. 21-24.
6. Valenti, M., Bethke, B., Fiore, G., How, J., and Feron, E., "Indoor multi-vehicle flight testbed for fault detection, isolation, and recovery," Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, Keystone, CO, 2006.
7. Narendra, K. S. and Annaswamy, A. M., Stable Adaptive Systems, Prentice-Hall, Englewood Cliffs, NJ, 1989.
8. Ioannou, P. A. and Sun, J., Robust Adaptive Control, Prentice-Hall, Upper Saddle River, NJ, 1996.
9. Sastry, S. and Bodson, M., Adaptive control: stability, convergence, and robustness, Prentice-Hall, Englewood Cliffs, NJ, 1989.
10. Slotine, J. J. E. and Coetsee, J. A., "Adaptive sliding controller synthesis for nonlinear systems," International Journal of Control, Vol. 43, No. 6, 1986, pp. 1631-1651.
11. Krstic, M., Kokotovic, P., and Kanellakopoulos, I., Nonlinear and adaptive control design, John Wiley & Sons, New York, NY, USA, 1995.
12. Bouabdallah, S., Murrieri, P., and Siegwart, R., "Design and control of an indoor micro quadrotor," IEEE International Conference on Robotics and Automation, Vol. 5, Citeseer, 2004, pp. 4393-4398.
13. Hoffmann, G., Huang, H., Waslander, S., and Tomlin, C., "Quadrotor helicopter flight dynamics and control: Theory and experiment," Proc. of the AIAA Guidance, Navigation, and Control Conference, Citeseer, 2007.
14. Kreisselmeier, G. and Narendra, K. S., "Stable Model Reference Adaptive Control in the Presence of Bounded Disturbances," IEEE Transactions on Automatic Control, Vol. 27, No. 6, December 1982, pp. 1169-1175.
15. Dydek, Z. T., Jain, H., Jang, J., Annaswamy, A. M., and Lavretsky, E., "Theoretically Verifiable Stability Margins for an Adaptive Controller," Proc. AIAA Conference on Guidance, Navigation, and Control, Keystone, Colorado, August 2006, AIAA-2006-6416.