User: Guest  Login
Title:

Adaptive Backstepping Design and Flight Testing of a Multirotor Position Controller

Document type:
Konferenzbeitrag
Author(s):
Krammer, Christoph; Falconí, Guillermo P.; Holzapfel, Florian
Abstract:
The interest in multirotor systems has significantly increased over the last decade, with considerable further potential application scenarios in the future. Multiple adaptive control strategies have been developed to account for uncertainties and disturbances during operation. In this paper, we derive an adaptive backstepping position controller by utilizing the tuning functions methodology. This allows compensating for both matched and unmatched disturbances in the system. Asymptotic stability...     »
Book / Congress title:
2023 American Control Conference (ACC)
Publisher:
IEEE
Year:
2023
Pages:
2379--2386
Fulltext / DOI:
doi:10.23919/ACC55779.2023.10156118
 BibTeX