Experimental validation of a new adaptive control scheme for quadrotors MAVs

Gianluca Antonelli, Elisabetta Cataldi, Paolo Robuffo Giordano, Stefano Chiaverini, Antonio Franchi
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, an adaptive trajectory tracking controller for quadrotor MAVs is presented. The controller exploits the common assumption of a faster orientation dynamics w.r.t. the translational one, and is able to asymptotically compensate for parametric uncertainties (e.g., displaced center of mass), as well as external disturbances (e.g., wind). The good performance of the proposed controller is then demonstrated by means of an extensive experimental evaluation performed with a commercially-available quadrotor MAV.
doi:10.1109/iros.2013.6696699 dblp:conf/iros/AntonelliCGCF13 fatcat:wpxoefktq5hmpnhznaro2sf24e