Model Reference Adaptive Control of a Quadrotor UAV

@inproceedings{Whitehead2010ModelRA,
  title={Model Reference Adaptive Control of a Quadrotor UAV},
  author={Brian T. Whitehead and Stefan R. Bieniawski},
  year={2010}
}
This paper presents an application of Model Reference Adaptive Control (MRAC) to a quadrotor unmanned aerial vehicle (UAV). After a review of the fundamental MRAC theoretical results, a detailed nonlinear model of the quadrotor is presented, including uncertainties which the adaptive control is to accommodate. Four approximate SISO LTI models are derived from the nonlinear model, which form the basis for the design of the adaptive controllers, which provide robust asymptotic tracking of step… CONTINUE READING

Citations

Publications citing this paper.
SHOWING 1-10 OF 14 CITATIONS

Adaptive nonlinear design plant uncertainty cancellation for a multirotor

  • 2016 International Conference on Unmanned Aircraft Systems (ICUAS)
  • 2016
VIEW 1 EXCERPT
CITES METHODS