L[subscript 1] Adaptive Control for Indoor Autonomous Vehicles: Design Process and Flight Testing
Author(s)How, Jonathan P.; Michini, Bernard J.
L1 Adaptive Control for Indoor Autonomous Vehicles: Design Process and Flight Testing
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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.
DepartmentMassachusetts Institute of Technology. Aerospace Controls Laboratory; Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
AIAA Guidance, Navigation, and Control Conference 10 - 13 August 2009, Chicago, Illinois
American Institute of Aeronautics and Astronautics
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.