Robust Adaptive Control for Constrained Tilt-Rotor Quadcopters of Unknown Inertial Properties

@article{Anderson2019RobustAC,
  title={Robust Adaptive Control for Constrained Tilt-Rotor Quadcopters of Unknown Inertial Properties},
  author={Robert B. Anderson and J. Burke and Julius A. Marshall and Andrea L’Afflitto},
  journal={2019 American Control Conference (ACC)},
  year={2019},
  pages={2922-2927}
}
This paper analyzes the dynamics of tilt-rotor quadcopters with H-configuration and synthesizes a control system for these vehicles. Our analysis is the first to show a nonlinear effect in the vehicle's rotational dynamics due to the fact that not all propellers of a tilt-rotor are aligned to one of the vehicle's principal axes. The proposed control system relies on an original robust model reference adaptive control law to guarantee user-defined constraints on both the trajectory tracking… Expand

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