Title :
Real-time implementation of mixing adaptive control on quadrotor UAVs
Author :
Kemal Büyükkabasakal;Barış Fi̇dan;Aydoğan Savran;Nasrettin Köksal
Author_Institution :
Electrical and Electronics Engineering Department, Ege University, Turkey
fDate :
7/1/2015 12:00:00 AM
Abstract :
In this study, a novel multiple model adaptive control scheme is designed and implemented for quadrotor unmanned aerial vehicles (UAVs). The proposed scheme involves a mixing adaptive controller that blends a set of pre-designed linear quadratic controllers. A particular goal of the design is guaranteeing robustness in lateral motion against modeling uncertainties. The designed controller scheme is tested via real-time experiments on Quanser Qball-X4 UAVs. The experimental results verify the efficiency of the proposed scheme.
Keywords :
"Adaptive control","Adaptation models","Uncertainty","Dynamics","Estimation","Algorithm design and analysis","Robustness"
Conference_Titel :
Control Conference (ECC), 2015 European
DOI :
10.1109/ECC.2015.7331089