TY - JOUR
T1 - Optimized L1 adaptive controller for trajectory tracking of an indoor quadrotor
AU - Jafarnejadsani, Hamidreza
AU - Sun, Donglei
AU - Lee, Hanmin
AU - Hovakimyan, Naira
N1 - Publisher Copyright:
© 2016 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.
PY - 2017
Y1 - 2017
N2 - This paper proposes a systematic analysis and synthesis method for the optimal design of filters for L1 adaptive output feedback controllers. In the L1 adaptive feedback structure, the low-pass filter is the key to the tradeoff between the performance and robustness of the closed-loop system. Although the filter design for the L1 adaptive architecture has been studied in previous papers, the need for a numerically tractable synthesis method is yet to be fulfilled. In this paper, the L1 adaptive controller with an optimized filter is used for precision trajectory tracking control of a small quadrotor (Crazyflie) in an experimental setup. The controller demonstrates robustness to time delay, noise, disturbances, radio transmission, and uncertainties in the modeling of quadrotor.
AB - This paper proposes a systematic analysis and synthesis method for the optimal design of filters for L1 adaptive output feedback controllers. In the L1 adaptive feedback structure, the low-pass filter is the key to the tradeoff between the performance and robustness of the closed-loop system. Although the filter design for the L1 adaptive architecture has been studied in previous papers, the need for a numerically tractable synthesis method is yet to be fulfilled. In this paper, the L1 adaptive controller with an optimized filter is used for precision trajectory tracking control of a small quadrotor (Crazyflie) in an experimental setup. The controller demonstrates robustness to time delay, noise, disturbances, radio transmission, and uncertainties in the modeling of quadrotor.
UR - http://www.scopus.com/inward/record.url?scp=85019436316&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85019436316&partnerID=8YFLogxK
U2 - 10.2514/1.G000566
DO - 10.2514/1.G000566
M3 - Article
AN - SCOPUS:85019436316
SN - 0731-5090
VL - 40
SP - 1415
EP - 1427
JO - Journal of Guidance, Control, and Dynamics
JF - Journal of Guidance, Control, and Dynamics
IS - 6
ER -