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.


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    Title :

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


    Contributors:

    Published in:

    Publication date :

    2017-02-16


    Size :

    13 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English







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