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Conference Papers Year : 2013

Experimental validation of a new adaptive control scheme for quadrotors MAVs

Abstract

In this paper, an adaptive trajectory tracking controller for quadrotor MAVs is presented. The controller exploits the common assumption of a faster orientation dy- namics w.r.t. the translational one, and is able to asymptotically compensate for parametric uncertainties (e.g., displaced center of mass), as well as external disturbances (e.g., wind). The good performance of the proposed controller is then demonstrated by means of an extensive experimental evaluation performed with a commercially-available quadrotor MAV.
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Dates and versions

hal-00851067 , version 1 (12-08-2013)

Identifiers

  • HAL Id : hal-00851067 , version 1

Cite

Gianluca Antonelli,, Elisabetta Cataldi,, Paolo Robuffo Giordano, Stefano Chiaverini, Antonio Franchi. Experimental validation of a new adaptive control scheme for quadrotors MAVs. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.2439-2444. ⟨hal-00851067⟩
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