| Abstract: |
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 cancelation, issued in the feedback linearization process. The results
shown in simulations reveal the superior performance of the augmented controller in tracking
maneuvers. |
