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- W2912178359 abstract "Adaptive control of a quad-rotorcraft is designed to estimate unknown plant parameters online in order to improve the robustness of the system against parametric uncertainties. Using the hierarchical structure of a quadrotor a nonlinear position and an adaptive attitude control law is proposed that can asymptotically track a command signal without the knowledge of inertia matrix. A projection based adaptive law estimates the unknown inertia parameters and ensures that the estimate always stay inside a pre-defined compact set. Adaptive design obeys the underlying principle behind hierarchical control where the vehicle tracks the desired position and compute guided attitudes from a thrust input so that designed rotor torques drives the vehicle towards desired orientation. A rigorous stability analysis proves that the overall system is stable by considering the effect of strong nonlinear coupling between the position and attitude subsystem. Closed-loop error dynamics is asymptotically converging and ensure all signals are bounded in the cascaded control structure. Simulation results demonstrate the theoretical conjecture of the proposed controller." @default.
- W2912178359 created "2019-02-21" @default.
- W2912178359 creator A5035881667 @default.
- W2912178359 date "2018-12-01" @default.
- W2912178359 modified "2023-10-01" @default.
- W2912178359 title "Adaptive Attitude Tracking of a Quad-Rotorcraft Using Nonlinear Control Hierarchy" @default.
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- W2912178359 doi "https://doi.org/10.1109/raics.2018.8635057" @default.
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