论文信息 - PERFORMANCE IMPROVEMENT OF AN ADAPTIVE CONTROLLER USING MODEL PREDICTIVE CONTROL : APPLICATION TO AN UAV MODEL

PERFORMANCE IMPROVEMENT OF AN ADAPTIVE CONTROLLER USING MODEL PREDICTIVE CONTROL : APPLICATION TO AN UAV MODEL

Abstract We present a control strategy based on the simultaneous use of model predictive and adaptive control. This approach guarantees stability in presence of perturbations for a certain class of nonlinear systems without adding stability constraints. It also improves the performances of the sole adaptive controller. This approach is used to design guidance and autopilot laws for a six degrees of freedom model of a small rotorcraft-based Unmanned Aerial Vehicle.

Tarek Hamel | Sylvain Bertrand | Helene Piet-Lahanier

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