In this article an adaptive controller is developed in order to estimate the inertia tensor, the mass and the wind parameters (considering wind as a parameter in the input) for the underactuated quad-rotor mini-aircraft. Experimental tests are performed in an educational platform. The proposed control scheme uses the parameter estimation issued from gradient type algorithm. Finally simulations and experimental results are included to illustrate the performance of the parameters identification for the quad-rotor helicopter.


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    Title :

    Real-time parameters identification for a quad-rotor mini-aircraft using adaptive control


    Contributors:


    Publication date :

    2014-05-01


    Size :

    1203891 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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