ℒ1 adaptive control of quadrotor UAVs in case of inversion of the torque direction

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dc.contributor.authorSouanef, Toufik
dc.contributor.authorWhidborne, James F.
dc.contributor.authorBoubakir, Ahsene
dc.date.accessioned2023-10-17T12:39:23Z
dc.date.available2023-10-17T12:39:23Z
dc.date.issued2023-10-10
dc.description.abstractThis paper presents a method for fault tolerant control of quadrotor UAVs in case of inversion of the torque direction, a situation that might occur due to structural, hardware or software issues. The proposed design is based on multiple-model ℒ1 adaptive control. The controller is composed of a nominal reference model and a set of degraded reference models. The nominal model is that with desired dynamics that are optimal regarding some specific criteria. In a degraded model, the performance criteria are reduced. It is designed to ensure system robustness in the presence of critical failures. The controller is tested in simulations and it is shown that the multiple model ℒ1 adaptive controller stabilizes the system in case of inversion of the control input, while the ℒ1 adaptive controller with a single nominal model fails.en_UK
dc.identifier.citationSouanef T, Whidborne J, Boubakir A. (2023) ℒ1 adaptive control of quadrotor UAVs in case of inversion of the torque direction. Drones and Autonomous Vehicles, Volume 1, Issue 1, Article number 10004en_UK
dc.identifier.doi10.35534/dav.2023.10004s
dc.identifier.issn2958-7670
dc.identifier.urihttps://doi.org/10.35534/dav.2023.10004
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/20387
dc.language.isoenen_UK
dc.publisherSCIE Publishen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectℒ1 adaptive controlen_UK
dc.subjectQuadrotor controlen_UK
dc.subjectFault-tolerant controlen_UK
dc.titleℒ1 adaptive control of quadrotor UAVs in case of inversion of the torque directionen_UK
dc.typeArticleen_UK

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