In this paper, the adaptive augmentation of the attitude control system for a multirotor unmanned aerial vehicle is considered. The proposed approach allows to combine a baseline controller with an adaptive one and to disable or enable the adaptive controller when needed, in order to take the advantages of both the controllers. To improve transient performance with respect to the standard model reference adaptive controller, an observed-based approach is exploited. The adaptation law is based on the error between the output of an observer of the nominal closed-loop dynamics and the actual output of the system with uncertainties. Experimental results obtained by testing the proposed approach on a quadrotor unmanned aerial vehicle are presented to compare the performance, in terms of disturbance rejection, with respect to the baseline controller and to a L 1 adaptive augmentation scheme.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive augmentation of the attitude control system for a multirotor unmanned aerial vehicle


    Contributors:
    Bressan, G (author) / Russo, A (author) / Invernizzi, D (author) / Giurato, M (author) / Panza, S (author) / Lovera, M (author)


    Publication date :

    2020-08-01


    Size :

    10 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Adaptive augmentation of the attitude control system for a multirotor unmanned aerial vehicle

    Bressan, G. / Russo, A. / Invernizzi, D. et al. | BASE | 2020

    Free access

    MULTIROTOR UNMANNED AERIAL VEHICLE

    XIAO XIANG / XIE YITIAN | European Patent Office | 2022

    Free access

    MULTIROTOR UNMANNED AERIAL VEHICLE

    SONG DALEI / SU WENBO / LIN TIANYU et al. | European Patent Office | 2018

    Free access

    MULTIROTOR UNMANNED AERIAL VEHICLE AND KIT

    ZHAO JIN / LIU YIFEN | European Patent Office | 2022

    Free access

    System Identification of Heterogeneous Multirotor Unmanned Aerial Vehicle

    Ayaz Ahmed Hoshu / Liuping Wang / Shahzeb Ansari et al. | DOAJ | 2022

    Free access