Christian D. Heise

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In this paper, a novel Linear Matrix Inequality (LMI) condition for Uniform Ultimate Boundedness (UUB) of Model Reference Adaptive Control with σ-Modification in the presence of unmatched parametric uncertainties is presented. Due to the presence of unmatched uncertainties and due to the usage of the σ-Modification, the control objective of(More)
A position tracking controller for a hexacopter is presented which is robust against disturbances like modeling errors or propulsion efficiency degradation. The presented controller stands out because of its simple design which does not resort to reconfiguration and avoids the necessity of a Failure Detection and Isolation (FDI) filter. The baseline(More)
— This paper deals with the computation of time-delay margins of state feedback Model Reference Adaptive Control (MRAC) with σ-modification for single input Linear Time Invariant (LTI) plants. Unlike previous results dealing with the computation of time-delay margins, a direct MRAC (without specific modification to accommodate for the time-delay) is(More)
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