Perching maneuver for an MAV augmented with an L1 adaptive controller

Ronald Choe, Naira Hovakimyan

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

Abstract

This paper presents the autonomous glide and perch capabilities of a bird-inspired micro aerial vehicle. The glide and perch maneuver is highly non-linear due to the necessary high angles of attack during the terminal phase of the maneuver. The flight control system that is designed and implemented for this challenging task, consists of an open-loop optimal control signal, that generates a nominal optimal trajectory, augmented with an L1 adaptive control system. The results show that autonomous and consistent glide and perch on a wire in a biomimetic fashion is achieved in the presence of uncertainties, such as time-delay in position and velocity feedback, time-delay in up- and down-link of control commands and telemetry data, variations in aerodynamic (stability) derivatives of the aircraft.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2011
StatePublished - Dec 1 2011
EventAIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, United States
Duration: Aug 8 2011Aug 11 2011

Publication series

NameAIAA Guidance, Navigation, and Control Conference 2011

Other

OtherAIAA Guidance, Navigation and Control Conference 2011
CountryUnited States
CityPortland, OR
Period8/8/118/11/11

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Choe, R., & Hovakimyan, N. (2011). Perching maneuver for an MAV augmented with an L1 adaptive controller. In AIAA Guidance, Navigation, and Control Conference 2011 (AIAA Guidance, Navigation, and Control Conference 2011).