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.
Augmented L1 adaptive tracking control of quad-rotor unmanned aircrafts
IEEE Transactions on Aerospace and Electronic Systems ; 50 , 4 ; 3090-3101
2014-10-01
3101039 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Adaptive Trajectory Planning for a Quad-rotor Unmanned Aerial Vehicle
British Library Conference Proceedings | 2010
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