@inproceedings{a50a4138ffa246ff8753f0d7530706d8,
title = "Robust adaptive control design for quadcopter payload add and drop applications",
abstract = "Payload add or drop occurs commonly in various quadcopter applications. Generally the control parameters of the onboard autopilot or stabilizer are tuned for a particular condition such as no payload or constant payload. Therefore, such mass change may significantly deteriorate the automatic control performance. In our work, a robust adaptive control method is proposed to deal with this challenging issue, aiming at 1) achieving a consistent performance for the altitude control of a quadcopter and 2) enhancing the robustness the system subject to signal noises. Using our custom built quadcopter platform as a case study, we demonstrate the efficiency of the proposed controller in terms of mass estimation, position tracking and velocity tracking via a series of simulations. Its superiority over the benchmark PID control is also highlighted via tracking performance comparison.",
keywords = "Adaptive control, payload add or drop, quadcopter UAV, robustness enhancement",
author = "Emran, {Bara J.} and Jorge Dias and Lakmal Seneviratne and Guowei Cai",
note = "Publisher Copyright: {\textcopyright} 2015 Technical Committee on Control Theory, Chinese Association of Automation.; 34th Chinese Control Conference, CCC 2015 ; Conference date: 28-07-2015 Through 30-07-2015",
year = "2015",
month = sep,
day = "11",
doi = "10.1109/ChiCC.2015.7260141",
language = "British English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "3252--3257",
editor = "Qianchuan Zhao and Shirong Liu",
booktitle = "Proceedings of the 34th Chinese Control Conference, CCC 2015",
address = "United States",
}