Adaptive control of unmanned quadrotor with partial actuator failure using model reference adaptive control (MRAC) with dynamic inversion

• Main Authors: Agarwal, Anmol, Ng, Ee Meng, Low, Kin Huat
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2021
• Subjects: Engineering::Mechanical engineering; Lyapunov Function; Dynamic Inversion; Model Reference Adaptive Control
• Online Access: https://hdl.handle.net/10356/152317
• Institution: Nanyang Technological University

Unmanned Aerial Vehicles (UAVs) often experience disturbances during operation, which will degrade its performance and may cause potential failure, affecting safety risks to civilians and other 3rd parties. In such event, UAVs with the common cascaded PID control might not be sufficient to compensat...