Procedia Computer Science · 2017 · 69 citations · 6 references
EngineeringAerospace EngineeringRobotics EngineeringAerial RoboticsFlight DynamicsRobot ControlAdaptive ControlControl System DesignControl SystemsControl TheoryController DesignRobust ControlAdaptive Flight ControlQuadrotor DesignRobust Flight ControlRobustnessRobustness MetricsUnmanned Aerial Vehicle Control
Quadcopters have generated considerable interest in both the control community due to their complex dynamics and a lot of potentials in outdoor applications because of their advantages over regular aerial vehicles. This paper presents the design and new control method of a quadcopter using L1 adaptive control design process in which control parameters are systematically determined based on intuitively desired performance and robustness metrics set by the designer.
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