L1Adaptive Control for a Single Coaxial Rotor MAV

This paper investigates the application of L1 adaptive augmentation to the experimental flight of a Single Coaxial Rotor (SCR) Micro Aerial Vehicle (MAV) conducted in the indoor flight facility of the National Defense Academy (NDA) of Japan. In this work, L1 adaptive controller parameters are determined by the use of multi-objective optimization. The adaptive controller is applied to the translational motion control while performing an experimental flight including heave motion, hovering, and hover-to-hover maneuvers to evaluate the controller. The results provide precise tracking performance and validate the feasibility of the adaptive controller.

[1]  Brian D. O. Anderson,et al.  Challenges of adaptive control-past, permanent and future , 2008, Annu. Rev. Control..

[2]  Masataka Ito,et al.  Minimum-Time Hover-to-Hover Maneuver of a Single Coaxial Rotor UAV : Example and Experimental Results , 2012 .

[3]  Florian Holzapfel,et al.  L1 Adaptive Augmentation of a Helicopter Baseline Controller , 2013 .

[4]  Chengyu Cao,et al.  Stability Margins of L1 Adaptive Controller: Part II , 2007, 2007 American Control Conference.

[5]  B. Bethke,et al.  Real-time indoor autonomous vehicle test environment , 2008, IEEE Control Systems.

[6]  John Valasek.  Advances in Intelligent and Autonomous Aerospace Systems , 2012 .

[7]  Chengyu Cao,et al.  Design and Analysis of a Novel L1 Adaptive Controller, Part II: Guaranteed Transient Performance , 2006, 2006 American Control Conference.

[8]  I. Michael Ross,et al.  Closed-Loop Optimal Guidance and Control of Quadrotor Unmanned Aerial Vehicle , 2010 .

[9]  V. R. Murthy,et al.  Optimal controller for an autonomous helicopter in hovering , 2008 .

[10]  Chengyu Cao,et al.  Design and Analysis of a Novel L1 Adaptive Controller, Part I: Control Signal and Asymptotic Stability , 2006, 2006 American Control Conference.

[11]  Masanori Harada,et al.  Tracking Control of a Single Coaxial Rotor UAV Using Dynamic Inversion , 2013 .

[12]  Steven L. Waslander,et al.  Modeling and Multivariable Control Techniques for Small Coaxial Helicopters , 2011 .

[13]  Naira Hovakimyan,et al.  Flight Validation of a Metrics Driven L(sub 1) Adaptive Control , 2008 .

[14]  Lorenzo Pollini,et al.  Simulation and Robust Backstepping Control of a Quadrotor Aircraft , 2008 .

[15]  R. Lozano,et al.  Real-Time Nonlinear Embedded Control for an Autonomous Quadrotor Helicopter , 2007 .

[16]  Jonathan P. How,et al.  L 1 Adaptive Control for Indoor Autonomous Vehicles: Design Process and Flight Testing , 2009 .

[17]  Youmin Zhang,et al.  Investigation, Flight Testing and Comparison of Three Nonlinear Control Techniques with Application to a Quadrotor Unmanned Aerial Vehicle , 2012 .

[18]  Roland Siegwart,et al.  Modeling, system identification and robust control of a coaxial micro helicopter , 2010 .

[19]  Amal El Fallah Seghrouchni,et al.  Multi-Agent Planning , 2012, Software Agents, Agent Systems and Their Applications.

[20]  Naira Hovakimyan,et al.  Optimization of the Time-Delay Margin of L 1 Adaptive Controller via the Design of the Underlying Filter ∗ , 2007 .

[21]  Claire J. Tomlin,et al.  Quadrotor Helicopter Trajectory Tracking Control , 2008 .

[22]  Masanori Harada,et al.  Minimum-Time Circling Flight of a Triarm Coaxial Rotor UAV , 2011 .

[23]  Irene M. Gregory,et al.  Flight Validation of Metrics Driven L1 Adaptive Control , 2008 .