This paper addresses a new trajectory tracking controller for quad-rotor aircrafts in the presence of time-varying aerodynamic effect and bounded external disturbance using the novel L1 adaptive control methodology augmented with nonlinear feed-forward compensations. The proposed augmented L1 adaptive controller achieves uniformly bounded transient and asymptotic tracking of the output signal for any designated bounded reference trajectory. Finally, simulations of tracking a circular reference trajectory are performed to illustrate the validity of the proposed controller.


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    Titel :

    Augmented L1 adaptive tracking control of quad-rotor unmanned aircrafts


    Beteiligte:
    Zongyu Zuo, (Autor:in) / Pengkai Ru, (Autor:in)


    Erscheinungsdatum :

    2014-10-01


    Format / Umfang :

    3101039 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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