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 proceedingConference contribution


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 languageEnglish (US)
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Number of pages6
StatePublished - 2007
Externally publishedYes
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: Jul 9 2007Jul 13 2007

Publication series

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


Other2007 American Control Conference, ACC
CountryUnited States
CityNew York, NY

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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