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Document type:
Konferenzbeitrag 
Author(s):
Akkinapalli, Venkata Sravan; Falconí, Guillermo P.; Holzapfel, Florian 
Title:
Fault tolerant incremental attitude control using online parameter estimation for a multicopter system 
Abstract:
This paper presents an attitude tracking incremental controller using a nonlinear reference model for a multicopter. The incremental controller is more robust compared to conventional nonlinear dynamic inversion controller against uncertainties due to its reduced model dependence. In order to further ensure robustness of the controller in the presence of actuator faults, the control effectiveness matrix is estimated online using gradient descent method. Furthermore, to achieve physically feasibl...    »
 
Book / Congress title:
25th Mediterranean Conference on Control and Automation (MED) 
Year:
2017 
Pages:
454--460 
Covered by:
Scopus; Web of Science 
Fulltext / DOI: