ℒ1 adaptive output feedback control of small unmanned aerial vehicles

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dc.contributor.authorSouanef, Toufik
dc.date.accessioned2022-07-26T12:34:06Z
dc.date.available2022-07-26T12:34:06Z
dc.date.issued2022-07-22
dc.description.abstractAn approach for output feedback ℒ1 adaptive control of small Unmanned Aerial Vehicles (UAVs) is presented in this paper. The design is based on a state observer instead of the state predictor. The main advantage is that a full state measurement can be avoided, and the design and implementation of the controller are simplified. Furthermore, since the state space description is maintained, the system dynamics including uncertainties can be specified with physical insight, which simplifies practical applications. The adaptation law borrows insights from the sliding mode control to estimate the unknown bounds of external disturbances. Flight test results for the control of a small UAV show the robustness of the ℒ1 adaptive controller to large uncertainties and disturbances.en_UK
dc.identifier.citationSouanef T. (2023) ℒ1 adaptive output feedback control of small unmanned aerial vehicles. Unmanned Systems, Volume 11, Issue 3, July 2023, pp. 249-260en_UK
dc.identifier.issn2301-3850
dc.identifier.urihttps://doi.org/10.1142/S2301385023500103
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/18229
dc.language.isoenen_UK
dc.publisherWorld Scientific Publishingen_UK
dc.subjectℒ1 Adaptive Controlen_UK
dc.subjectUnmanned Aerial Vehiclesen_UK
dc.subjectFault-tolerant Controlen_UK
dc.subjectOutput feedback Controlen_UK
dc.titleℒ1 adaptive output feedback control of small unmanned aerial vehiclesen_UK
dc.typeArticleen_UK

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