This paper proposes a systematic analysis and synthesis method for the optimal design of filters for adaptive output feedback controllers. In the adaptive feedback structure, the low-pass filter is the key to the tradeoff between the performance and robustness of the closed-loop system. Although the filter design for the adaptive architecture has been studied in previous papers, the need for a numerically tractable synthesis method is yet to be fulfilled. In this paper, the adaptive controller with an optimized filter is used for precision trajectory tracking control of a small quadrotor (Crazyflie) in an experimental setup. The controller demonstrates robustness to time delay, noise, disturbances, radio transmission, and uncertainties in the modeling of quadrotor.
Optimized Adaptive Controller for Trajectory Tracking of an Indoor Quadrotor
Journal of Guidance, Control, and Dynamics ; 40 , 6 ; 1415-1427
2017-02-16
13 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Optimized L 1 Adaptive Controller for Trajectory Tracking of an Indoor Quadrotor
Online Contents | 2017
|Optimized L 1 Adaptive Controller for Trajectory Tracking of an Indoor Quadrotor
Online Contents | 2017
|Optimized L 1 Adaptive Controller for Trajectory Tracking of an Indoor Quadrotor
Online Contents | 2017
|SAGE Publications | 2021
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