The stabilization problem for quadcopters with saturated actuators is considered. A simple adaptive output control approach is proposed. The control law “consecutive compensator” is augmented with the auxiliary integral loop and anti-windup scheme. Efficiency of the obtained regulator was confirmed by simulation of the quadcopter control problem.
Simple adaptive control for quadcopters with saturated actuators
ICNPAA 2016 WORLD CONGRESS: 11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences ; 2016 ; La Rochelle, France
AIP Conference Proceedings ; 1798 , 1
2017-01-27
10 pages
Conference paper
Electronic Resource
English
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