This paper proposes a systematic analysis and synthesis method for the optimal design of filters for L1 adaptive output feedback controllers. In the L1 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 L1 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 L1 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. Presented as Paper 2016 at the AIAA Guidance, Control, Navigation Conference, San Diego, CA, 4-8 January 2016


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    Title :

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




    Publication date :

    2017




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    55.54 Flugführung
    Local classification TIB:    770/7040





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