Computationally simple model reference adaptive control for miniature air vehicles
- 1 January 2006
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 12 (07431619) , 6 pp.
- https://doi.org/10.1109/acc.2006.1657679
Abstract
This paper presents a computationally efficient model reference adaptive autopilot for pitch attitude hold and roll attitude hold. The derivation of the adaptive controllers depends upon a model simplification that results in two unknown parameters for each mode. The resulting controllers have been successfully implemented on the Kestrel autopilot (which has a low-power micro-controller) and flight tested on three different miniature air vehicles (MAVs). In addition, one of the MAVs was outfitted with a deployable flap that significantly changes the aerodynamic coefficients of the airframe. The adaptive controllers proposed in this paper successfully adapt to mid-air deployment of the flapKeywords
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