Adaptive control for quadrotors

Author

Ameho, Yann ; Niel, Fabien ; Defay, Francois ; Biannic, Jean-Marc ; Berard, Caroline

Author_Institution

Inst. Super. d´Aeronautique et de l´Espace - Supaero, Toulouse, France

fYear

2013

fDate

6-10 May 2013

Firstpage

5396

Lastpage

5401

Abstract

This paper presents an indirect adaptive control methodology for quadorotors. The methodology aims at controlling a family of quadrotor micro air vehicle with a common set of sensors and processing hardware but with various sizes, configurations, payloads and propeller types. The parameter estimation is based on the Recursive Least Square algorithm which feeds the estimates to a linear parameter varying controller. The synthesis of the controller relies on structured H_∞ algorithm.

Keywords

adaptive control; aircraft; autonomous aerial vehicles; linear systems; recursive estimation; rotors; H infinity algorithm; indirect adaptive control methodology; linear parameter varying controller; parameter estimation; propeller; quadrotor micro air vehicle; quadrotors; recursive least square algorithm; Aerodynamics; Blades; Delays; Parameter estimation; Rotors; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2013 IEEE International Conference on

Conference_Location

Karlsruhe

ISSN

1050-4729

Print_ISBN

978-1-4673-5641-1

Type

conf

DOI

10.1109/ICRA.2013.6631351

Filename

6631351

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3529080