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Adaptive control for quadrotors

Ameho, Yann and Niel, Fabien and Defaÿ, François and Biannic, Jean-Marc and Bérard, Caroline Adaptive control for quadrotors. (2013) In: 2013 IEEE International Conference on Robotics and Automation (ICRA), 6 May 2013 - 10 May 2013 (Karlsruhe, Germany).

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Official URL: http://dx.doi.org/10.1109/ICRA.2013.6631351

Abstract

This paper presents an indirect adaptive control methodology for quadorotors. The methodology aims at controlling a family of quadrotor micro air vehicle with a common set of sensors and processing hardware but with various sizes, configurations, payloads and propeller types. The parameter estimation is based on the Recursive Least Square algorithm which feeds the estimates to a linear parameter varying controller. The synthesis of the controller relies on structured Hinfinity algorithm.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
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Deposited By: francois defay
Deposited On:17 Jan 2014 14:50

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