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

@article{Lopez2014RealtimePI,
  title={Real-time parameters identification for a quad-rotor mini-aircraft using adaptive control},
  author={Ricardo Lopez and Sergio Salazar and Ivan Gonzalez-Hernandez and Rogelio Lozano},
  journal={2014 International Conference on Unmanned Aircraft Systems (ICUAS)},
  year={2014},
  pages={499-505}
}
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… CONTINUE READING