English
 
Help Privacy Policy Disclaimer
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT
 
 
DownloadE-Mail
  Experimental validation of a new adaptive control scheme for quadrotors MAVs

Antonelli, G., Cataldi, E., Robuffo Giordano, P., Chiaverini, S., & Franchi, A. (2013). Experimental validation of a new adaptive control scheme for quadrotors MAVs. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013) (pp. 2439-2444). Piscataway, NJ, USA: IEEE.

Item is

Files

show Files

Locators

show
hide
Description:
-
OA-Status:

Creators

show
hide
 Creators:
Antonelli, G, Author
Cataldi, E, Author           
Robuffo Giordano, P, Author           
Chiaverini, S, Author
Franchi, A1, 2, Author           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

Content

show
hide
Free keywords: -
 Abstract: In this paper, an adaptive trajectory tracking controller for quadrotor MAVs is presented. The controller exploits the common assumption of a faster orientation dy- namics 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.

Details

show
hide
Language(s):
 Dates: 2013-11
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/IROS.2013.6696699
BibTex Citekey: AntonelliCRCF2013
 Degree: -

Event

show
hide
Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
Place of Event: Tokyo, Japan
Start-/End Date: -

Legal Case

show

Project information

show

Source 1

show
hide
Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
Source Genre: Proceedings
 Creator(s):
Affiliations:
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 2439 - 2444 Identifier: ISBN: 978-1-4673-6357-0