An ℒ1 adaptive pitch controller for miniature air vehicles

Randal W. Beard, Nathan Knoebel, Chengyu Cao, Naira Hovakimyan, Joshua Matthews

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

One of the challenges in designing low level control loops for Micro Air Vehicles (MAVs) is that the manufacturing process for airframes is not consistent enough to ensure uniform aerodynamic properties. Therefore, there is a significant need for robust adaptive control techniques that are computationally simple. Conventional Model Reference Adaptive Controllers (MRAC) have proved to be very useful in a number of flight tests over the past years. However, a major drawback of this control architecture is that during the transient the control signal or the system output can exhibit large oscillations. This requires intensive Monte-Carlo testing for all possible variations in all possible scenarios before each flight test. This paper presents preliminary results for a novel adaptive control technique that is both computationally simple, and has uniform bounded transient response. The effectiveness of the proposed control scheme is demonstrated through simulation results produced by a medium-fidelity hardware-in-the-loop simulator as well as flight test results on a five foot wingspan unmanned air vehicle.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
Pages5177-5188
Number of pages12
StatePublished - Dec 1 2006
Externally publishedYes
EventAIAA Guidance, Navigation, and Control Conference 2006 - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
Volume8

Other

OtherAIAA Guidance, Navigation, and Control Conference 2006
CountryUnited States
CityKeystone, CO
Period8/21/068/24/06

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint Dive into the research topics of 'An ℒ<sub>1</sub> adaptive pitch controller for miniature air vehicles'. Together they form a unique fingerprint.

  • Cite this

    Beard, R. W., Knoebel, N., Cao, C., Hovakimyan, N., & Matthews, J. (2006). An ℒ1 adaptive pitch controller for miniature air vehicles. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006 (pp. 5177-5188). (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006; Vol. 8).