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Article

A robust environment for simulation and testing of adaptive control for mini-UAVs

Authors:

Manohar B. Srikanth,

Zachary T. Dydek,

Anuradha M. Annaswamy,

Eugene LavretskyAuthors Info & Claims

ACC'09: Proceedings of the 2009 conference on American Control Conference

Pages 5398 - 5403

Published: 10 June 2009 Publication History

Abstract

A simulation environment is developed to assist in the design, development, and validation of complex controllers with applications to mini-UAVs, such as the four-rotor DraganFly RC helicopter (quadrotor). The simulation system is modular and includes interfaces which allow for substitution of software subsystems with hardware components. This approach enables a smooth transition from the design and simulation phases to the implementation phase. The benefits of the proposed simulation environment are examined through the application of model reference adaptive control to a quadrotor UAV in the presence of actuator uncertainties and nonlinearities.

References

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Cited By

Boudjit KLarbes CMoccia APasquini AGarcia E(2013)Control and stabilization applied to micro quadrotor AR.DroneProceedings of the 3rd International Conference on Application and Theory of Automation in Command and Control Systems10.1145/2494493.2494511(122-127)Online publication date: 28-May-2013
https://dl.acm.org/doi/10.1145/2494493.2494511

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cover image Guide Proceedings

ACC'09: Proceedings of the 2009 conference on American Control Conference

June 2009

5820 pages

ISBN:9781424445233

Publisher

IEEE Press

Publication History

Published: 10 June 2009

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Cited By

Boudjit KLarbes CMoccia APasquini AGarcia E(2013)Control and stabilization applied to micro quadrotor AR.DroneProceedings of the 3rd International Conference on Application and Theory of Automation in Command and Control Systems10.1145/2494493.2494511(122-127)Online publication date: 28-May-2013
https://dl.acm.org/doi/10.1145/2494493.2494511

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