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Titel:

Fault tolerant incremental attitude control using online parameter estimation for a multicopter system

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Akkinapalli, Venkata Sravan; Falconí, Guillermo P.; Holzapfel, Florian
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...     »
Kongress- / Buchtitel:
25th Mediterranean Conference on Control and Automation (MED)
Jahr:
2017
Seiten:
454--460
Nachgewiesen in:
Scopus; Web of Science
Volltext / DOI:
doi:10.1109/MED.2017.7984159
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