TY - GEN
T1 - Adaptive control for a VTOL UAV operating near a wall
AU - Lee, Daewon
AU - Awan, Asad Ullah
AU - Kim, Suseoung
AU - Jin Kim, H.
PY - 2012
Y1 - 2012
N2 - In this paper, we proposed a neural-network-based adaptive controller to adapt against unknown, possibly time varying, external disturbances for a quadrotor UAV. The proposed algorithm can estimate uncertain forces, which occurs when flying in narrow areas, near walls and/or other surfaces, so that the controller can maintain satisfactory position tracking performance despite these disturbances. A proof for stability with the pro- posed algorithm is provided. Experimental results show that, with the proposed NN based adaptation algorithm, position tracking performance of quadrotor UAV shows satisfactory improvement in presence of external disturbances.
AB - In this paper, we proposed a neural-network-based adaptive controller to adapt against unknown, possibly time varying, external disturbances for a quadrotor UAV. The proposed algorithm can estimate uncertain forces, which occurs when flying in narrow areas, near walls and/or other surfaces, so that the controller can maintain satisfactory position tracking performance despite these disturbances. A proof for stability with the pro- posed algorithm is provided. Experimental results show that, with the proposed NN based adaptation algorithm, position tracking performance of quadrotor UAV shows satisfactory improvement in presence of external disturbances.
UR - https://www.scopus.com/pages/publications/84883561497
UR - https://www.scopus.com/pages/publications/84883561497#tab=citedBy
U2 - 10.2514/6.2012-4835
DO - 10.2514/6.2012-4835
M3 - Conference contribution
AN - SCOPUS:84883561497
SN - 9781600869389
T3 - AIAA Guidance, Navigation, and Control Conference 2012
BT - AIAA Guidance, Navigation, and Control Conference 2012
PB - American Institute of Aeronautics and Astronautics Inc.
T2 - AIAA Guidance, Navigation, and Control Conference 2012
Y2 - 13 August 2012 through 16 August 2012
ER -