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Experimental validation of a new adaptive control scheme for quadrotors MAVs.
- Source :
- 2013 IEEE/RSJ International Conference on Intelligent Robots & Systems; 2013, p2439-2444, 6p
- Publication Year :
- 2013
-
Abstract
- In this paper, an adaptive trajectory tracking controller for quadrotor MAVs is presented. The controller exploits the common assumption of a faster orientation dynamics 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. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISBNs :
- 9781467363587
- Database :
- Complementary Index
- Journal :
- 2013 IEEE/RSJ International Conference on Intelligent Robots & Systems
- Publication Type :
- Conference
- Accession number :
- 94538611
- Full Text :
- https://doi.org/10.1109/IROS.2013.6696699