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Dokumenttyp:
Konferenzbeitrag 
Autor(en):
Falconí, Guillermo P.; Heise, Christian; Holzapfel, Florian 
Titel:
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...    »
 
Kongress- / Buchtitel:
14th International Conference on Control, Automation, Robotics {&} Vision (ICARCV) 
Jahr:
2016 
Nachgewiesen in:
Scopus; Web of Science 
Reviewed:
ja