de.mpg.escidoc.pubman.appbase.FacesBean
Deutsch
 
Hilfe Wegweiser Datenschutzhinweis Impressum Kontakt
  DetailsucheBrowse

Datensatz

DATENSATZ AKTIONENEXPORT

Freigegeben

Konferenzbeitrag

Experimental validation of a new adaptive control scheme for quadrotors MAVs

MPG-Autoren
http://pubman.mpdl.mpg.de/cone/persons/resource/persons83915

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;

Volltexte (frei zugänglich)
Es sind keine frei zugänglichen Volltexte verfügbar
Ergänzendes Material (frei zugänglich)
Es sind keine frei zugänglichen Ergänzenden Materialien verfügbar
Zitation

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.


Zitierlink: http://hdl.handle.net/11858/00-001M-0000-001A-14A6-6
Zusammenfassung
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.