This paper proposes a systematic analysis and synthesis method for the optimal design of filters for L 1 adaptive output feedback controllers. In the L 1 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 L 1 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 L 1 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.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Optimized L 1 Adaptive Controller for Trajectory Tracking of an Indoor Quadrotor


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2017-02-16


    Format / Umfang :

    13 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch







    Trajectory Tracking of AR.Drone Quadrotor Using Fuzzy Logic Controller

    Prayitno, Agung / Indrawati, Veronica / Utomo, Gabriel | BASE | 2014

    Freier Zugriff

    Attitude trajectory tracking of quadrotor UAV using super-twisting observer-based adaptive controller

    Chen, Ai-Jun / Sun, Ming-Jian / Wang, Zhen-Hua et al. | SAGE Publications | 2021