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  Experimental validation of a new adaptive control scheme for quadrotors MAVs

Antonelli, G., Cataldi, E., Robuffo Giordano, P., Chiaverini, S., & Franchi, A. (2013). Experimental validation of a new adaptive control scheme for quadrotors MAVs. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013) (pp. 2439-2444). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-001A-14A6-6 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-4A48-C
Genre: Conference Paper

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 Creators:
Antonelli, G, Author
Cataldi, E, Author              
Robuffo Giordano, P, Author              
Chiaverini, S, Author
Franchi, A1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: In this paper, an adaptive trajectory tracking controller for quadrotor MAVs is presented. The controller exploits the common assumption of a faster orientation dy- namics w.r.t. the translational one, and is able to asymptotically compensate for parametric uncertainties (e.g., displaced center of mass), as well as external disturbances (e.g., wind). The good performance of the proposed controller is then demonstrated by means of an extensive experimental evaluation performed with a commercially-available quadrotor MAV.

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 Dates: 2013-11
 Publication Status: Published in print
 Pages: -
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 Rev. Method: -
 Identifiers: DOI: 10.1109/IROS.2013.6696699
BibTex Citekey: AntonelliCRCF2013
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
Place of Event: Tokyo, Japan
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
Source Genre: Proceedings
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Affiliations:
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 2439 - 2444 Identifier: ISBN: 978-1-4673-6357-0