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Dokumenttyp:
Konferenzbeitrag 
Autor(en):
Mühlegg, Maximilian; Niermeyer, Philipp; Falconí, Guillermo P.; Holzapfel, Florian 
Titel:
L1 Fault Tolerant Adaptive Control of a Hexacopter with Control Degradation 
Abstract:
In this paper we present a nonlinear control framework for the attitude of a hexacopter system, which is able to cope with motor degradation. Approximate model inversion transforms the plant into an equivalent linear form. A linear error controller enables tracking of a designer chosen reference model. The control framework is augmented by an L1 adaptive controller, in order to cope with uncertainties. Due to the nature of the L1 controller, performance and robustness are decoupled, which allows...    »
 
Kongress- / Buchtitel:
IEEE Conference on Control Applications (CCA) 
Verlagsort:
Sydney, Australia 
Jahr:
2015 
Nachgewiesen in:
Scopus; Web of Science