Experimental validation of a new adaptive control scheme for quadrotors MAVs

Antonelli, G; Cataldi, E; Robuffo Giordano, P; Chiaverini, S; Franchi, A

doi:10.1109/IROS.2013.6696699

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Experimental validation of a new adaptive control scheme for quadrotors MAVs

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Franchi, A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

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.

Cite as: https://hdl.handle.net/11858/00-001M-0000-001A-14A6-6

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.