A robust environment for simulation and testing of adaptive control for mini-UAVs

Authors:
Manohar B. Srikanth;Zachary T. Dydek;Anuradha M. Annaswamy;Eugene Lavretsky
Affiliations:
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA;Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA;Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA;
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 2
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Abstract

A simulation environment is developed to assist in the design, development, and validation of complex controllers with applications to mini-UAVs, such as the four-rotor DraganFly RC helicopter (quadrotor). The simulation system is modular and includes interfaces which allow for substitution of software subsystems with hardware components. This approach enables a smooth transition from the design and simulation phases to the implementation phase. The benefits of the proposed simulation environment are examined through the application of model reference adaptive control to a quadrotor UAV in the presence of actuator uncertainties and nonlinearities.