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Title:

Rank one update-based efficient adaptive control allocation for multicopter

Document type:
Konferenzbeitrag
Author(s):
Li, Hangxu; Myschik, Stephan; Hong, Haichao; Holzapfel, Florian
Abstract:
This paper proposes an efficient rank one update-based adaptive control allocation (CA) that shows satisfactory computational efficiency. A typical adaptive CAmodule includes parameter estimation and CA parts. In this paper, the parameter estimation part uses a recursive least square (RLS) filter to obtain an estimated CA matrix, and the CA module is designed based on the pseudoinverse method. Because of using the pseudo-inverse method to allocate pseudo commands from the upstream controller, th...     »
Book / Congress title:
CEAS EuroGNC conference 2024
Year:
2024
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