Flight validation of a metrics driven ℒ1 adaptive control in the presence of general unmodeled dynamics

Enric Xargay, Vladimir Dobrokhodov, Ioannis Kitsios, Isaac Kaminer, Kevin D. Jones, Naira Hovakimyan, Chengyu Cao, Mariano I. Lizarraga, Irene M. Gregory

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

Abstract

The paper summarizes the results of an ongoing effort in the development and flight validation and verification of the metrics driven ℒ1 adaptive flight control system. In particular, the paper develops a unified framework for design, implementation, validation and verification of flight critical control systems including: (i) definition of experimental control validation technique that accounts for generalized plant uncertainties or unmodeled dynamics; (ii) tuning the developed ℒ1 adaptive controller to explicitly address performance metrics in the presence of modeling uncertainties under adverse flight conditions; (iii) development of a flight control system testing environment for implementation of the resulting algorithms onboard of a small unmanned aerial vehicle; and (iv) designing and conducting of a comprehensive flight test validation and verification program that demonstrates performance of the proposed adaptive control algorithm.

Original languageEnglish (US)
Title of host publication2009 IEEE International Conference on Control and Automation, ICCA 2009
Pages2243-2248
Number of pages6
DOIs
StatePublished - Dec 1 2009
Event2009 IEEE International Conference on Control and Automation, ICCA 2009 - Christchurch, New Zealand
Duration: Dec 9 2009Dec 11 2009

Publication series

Name2009 IEEE International Conference on Control and Automation, ICCA 2009

Other

Other2009 IEEE International Conference on Control and Automation, ICCA 2009
CountryNew Zealand
CityChristchurch
Period12/9/0912/11/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Xargay, E., Dobrokhodov, V., Kitsios, I., Kaminer, I., Jones, K. D., Hovakimyan, N., Cao, C., Lizarraga, M. I., & Gregory, I. M. (2009). Flight validation of a metrics driven ℒ1 adaptive control in the presence of general unmodeled dynamics. In 2009 IEEE International Conference on Control and Automation, ICCA 2009 (pp. 2243-2248). [5410355] (2009 IEEE International Conference on Control and Automation, ICCA 2009). https://doi.org/10.1109/ICCA.2009.5410355