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Adaptive Tracking Control for a Quad-Rotor

Cesáreo Raimúndez, Alejandro Fernandez Villaverde
This paper illustrates the application of an adaptive flight control
architecture to a scale quad-rotor. For autonomous VTOL (Vertical
Takeoff and Landing) flight, it is common to separate the control
problem into an inner fast loop that controls attitude and an outer
slow loop that controls the trajectory of the VTOL. In this paper we
augment a conventional PD controller conceived mainly for hovering,
with an adaptive element using a real-time tuning single hidden
layer neural network in a inner-outer loop combined architecture to
account for model inversion error cancellation, issued in the
feedback linearization process. The results shown in simulations
reveal the superior performance of the augmented controller in
tracking maneuvers.
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