Show simple item record

dc.contributor.authorHow, Jonathan P.
dc.contributor.authorMichini, Bernard J.
dc.date.accessioned2010-08-31T17:54:30Z
dc.date.available2010-08-31T17:54:30Z
dc.date.issued2009-08
dc.identifier.issn1946-794X
dc.identifier.otherAIAA 2009-5754
dc.identifier.urihttp://hdl.handle.net/1721.1/57900
dc.description.abstractAdaptive 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.en_US
dc.description.sponsorshipUnited States. Air Force Office of Scientific Research (Grant FA9550-08-1-0086)en_US
dc.language.isoen_US
dc.publisherAmerican Institute of Aeronautics and Astronauticsen_US
dc.relation.isversionofhttp://www.aiaa.org/agenda.cfm?lumeetingid=1998en_US
dc.rightsAttribution-Noncommercial-Share Alike 3.0 Unporteden_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/en_US
dc.sourceauthor/dept web pageen_US
dc.titleL[subscript 1] Adaptive Control for Indoor Autonomous Vehicles: Design Process and Flight Testingen_US
dc.title.alternativeL1 Adaptive Control for Indoor Autonomous Vehicles: Design Process and Flight Testingen_US
dc.typeArticleen_US
dc.identifier.citationMichini, 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.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Aerospace Controls Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronauticsen_US
dc.contributor.approverHow, Jonathan P.
dc.contributor.mitauthorHow, Jonathan P.
dc.contributor.mitauthorMichini, Bernard J.
dc.relation.journalAIAA Guidance, Navigation, and Control Conference 10 - 13 August 2009, Chicago, Illinoisen_US
dc.eprint.versionOriginal manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
dspace.orderedauthorsMichini, Buddy; How, Jonathan P.
dc.identifier.orcidhttps://orcid.org/0000-0001-8576-1930
mit.licenseOPEN_ACCESS_POLICYen_US
mit.metadata.statusComplete


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record