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Dokumenttyp:
Konferenzbeitrag 
Autor(en):
Akkinapalli, Venkata Sravan; Niermeyer, Philipp; Lohmann, Boris; Holzapfel, Florian 
Titel:
Adaptive Nonlinear Design Plant Uncertainty Cancellation for a Multirotor 
Abstract:
This paper presents the design of an adaptive augmentation for cascaded outer-loop path and inner-loop acceleration tracking controllers. The adaptive augmentation is based on a nonlinear design plant and uses model reference adaptive control (MRAC). The outer-loop position controller is a nonlinear model predictive controller (NMPC) with velocity adjustment which incorporates the states and control input constraints. Acceleration tracking is achieved by using nonlinear dynamic inversion with dy...    »
 
Kongress- / Buchtitel:
2016 International Conference on Unmanned Aircraft Systems (ICUAS) 
Jahr:
2016 
Seiten:
1102--1110 
Nachgewiesen in:
Scopus; Web of Science 
Reviewed:
ja