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Adaptive Control of Quadrotor UAVs: A Design Trade Study With Flight Evaluations

机译：四旋翼无人机的自适应控制：带有飞行评估的设计行业研究

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摘要

This brief describes the application of direct and indirect model reference adaptive control to a lightweight low-cost quadrotor unmanned aerial vehicle platform. A baseline trajectory tracking controller is augmented by an adaptive controller. The approach is validated using simulations and flight tested in an indoor test facility. The adaptive controller is found to offer increased robustness to parametric uncertainties. In particular, it is found to be effective in mitigating the effects of a loss-of-thrust anomaly, which may occur due to component failure or physical damage. The design of the adaptive controller is presented, followed by a comparison of flight test results using the existing linear and augmented adaptive controllers.
机译：本简介描述了直接和间接模型参考自适应控制在轻型低成本四旋翼无人机平台上的应用。基线轨迹跟踪控制器由自适应控制器增强。该方法已通过模拟验证，并在室内测试设施中进行了飞行测试。发现自适应控制器可为参数不确定性提供更高的鲁棒性。特别地，发现其有效地减轻了由于部件故障或物理损坏而可能发生的推力损失异常的影响。介绍了自适应控制器的设计，然后使用现有的线性和增强型自适应控制器比较飞行测试结果。

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