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Document type:
Konferenzbeitrag 
Author(s):
Falconí, Guillermo P.; Heise, Christian; Holzapfel, Florian 
Title:
Novel Control Law for Predictor-Based MRAC for Overactuated Systems 
Abstract:
In this paper, novel control and update laws for predictor-based Model Reference Adaptive Control for the case of overactuated systems are presented. A weaker assumption than positive definiteness of the control effectiveness matrix is formulated. This allows to take actuator failures and even changes in the control direction into account. Furthermore, it is shown that the number of adaptive parameters can be reduced avoiding overparameterization. The control law is applied to a hexarotor exampl...    »
 
Book / Congress title:
14th International Conference on Control, Automation, Robotics {&} Vision (ICARCV) 
Year:
2016 
Covered by:
Scopus; Web of Science 
Reviewed:
ja