Stabilization of cascaded systems via ℒ1 adaptive controller with application to a UAV path following problem and flight test results

Chengyu Cao; Naira Hovakimyan; Isaac Kaminer; Vijay V. Patel; Vladimir Dobrokhodov

doi:10.1109/ACC.2007.4283028

Stabilization of cascaded systems via ℒ₁ adaptive controller with application to a UAV path following problem and flight test results

Chengyu Cao, Naira Hovakimyan, Isaac Kaminer, Vijay V. Patel, Vladimir Dobrokhodov

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper presents a theoretical framework for augmenting an existing autopilot by an adaptive element so that it tracks a given smooth reference command with desired specifications. The main contribution of the approach is that it allows for augmenting the autopilot without any modifications to it. The augmentative adaptive element is based on the ℒ₁ adaptive output feedback control architecture developed in [1]. The complete path following architecture of this paper enables a UAV with an off-the-shelf autopilot to follow a predetermined path that it was not otherwise designed to follow. The paper concludes with flight test results performed in Camp Roberts, CA, in February of 2007.

Original language	English (US)
Title of host publication	Proceedings of the 2007 American Control Conference, ACC
Pages	1787-1792
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2007.4283028
State	Published - 2007
Externally published	Yes
Event	2007 American Control Conference, ACC - New York, NY, United States Duration: Jul 9 2007 → Jul 13 2007

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2007 American Control Conference, ACC
Country/Territory	United States
City	New York, NY
Period	7/9/07 → 7/13/07

ASJC Scopus subject areas

Electrical and Electronic Engineering

Online availability

10.1109/ACC.2007.4283028

Library availability

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Cite this

Cao, C., Hovakimyan, N., Kaminer, I., Patel, V. V., & Dobrokhodov, V. (2007). Stabilization of cascaded systems via ℒ₁ adaptive controller with application to a UAV path following problem and flight test results. In Proceedings of the 2007 American Control Conference, ACC (pp. 1787-1792). Article 4283028 (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2007.4283028

Stabilization of cascaded systems via ℒ₁ adaptive controller with application to a UAV path following problem and flight test results. / Cao, Chengyu; Hovakimyan, Naira; Kaminer, Isaac et al.
Proceedings of the 2007 American Control Conference, ACC. 2007. p. 1787-1792 4283028 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Cao, C, Hovakimyan, N, Kaminer, I, Patel, VV & Dobrokhodov, V 2007, Stabilization of cascaded systems via ℒ₁ adaptive controller with application to a UAV path following problem and flight test results. in Proceedings of the 2007 American Control Conference, ACC., 4283028, Proceedings of the American Control Conference, pp. 1787-1792, 2007 American Control Conference, ACC, New York, NY, United States, 7/9/07. https://doi.org/10.1109/ACC.2007.4283028

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