L[subscript 1] Adaptive Control for Indoor Autonomous Vehicles: Design Process and Flight Testing
Name
How_L1Adaptive.pdf
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1.22 MB
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Author(s)
How, Jonathan P.
Michini, Bernard J.
Alternative Title
L1 Adaptive Control for Indoor Autonomous Vehicles: Design Process and Flight Testing
Date Issued
August 2009
Journal
AIAA Guidance, Navigation, and Control Conference 10 - 13 August 2009, Chicago, Illinois
Publisher
American Institute of Aeronautics and Astronautics
Citation
Michini, B. and J. How. " L1 Adaptive Control for Indoor Autonomous Vehicles: Design Process and Flight Testing." AIAA Guidance, Navigation, and Control Conference 10-13 August 2009, Chicago, Illinois, AIAA 2009-5754.
Version
Original manuscript
Abstract
Adaptive control techniques have the potential to address many of the special
performance and robustness requirements of flight control for unmanned aerial vehicles. L[subscript 1] adaptive control offers potential benefits in terms of performance and
robustness. An L[subscript 1] adaptive output feedback control design process is presented
here in which control parameters are systematically determined based on intuitive
desired performance and robustness metrics set by the designer. Flight test results
verify the process for an indoor autonomous quadrotor helicopter, demonstrating that designer specifications correspond to the expected physical responses. In
flight tests comparing it with the baseline linear controller, the augmented adaptive system shows definite performance and robustness improvements conforming
the potential of L[subscript 1] adaptive control as a useful tool for autonomous aircraft.
MIT Department
Massachusetts Institute of Technology. Aerospace Controls Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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Attribution-Noncommercial-Share Alike 3.0 Unported
Persistent DSpace Link
DOI of Published Version
http://www.aiaa.org/agenda.cfm?lumeetingid=1998
