L1 Adaptive Control for Wind Gust Rejection in Quad-Rotor UAV Wind Turbine Inspection

Suárez Fernández, Ramón and Domínguez Cabrerizo, Sergio and Campoy Cervera, Pascual (2017). L1 Adaptive Control for Wind Gust Rejection in Quad-Rotor UAV Wind Turbine Inspection. In: "2017 International Conference on Unmanned Aircraft Systems (ICUAS)", 13-16 June 2017, Dallas, Texas, USA. ISBN 978-1-5090-4494-8. pp. 1840-1849.

Description

Title: L1 Adaptive Control for Wind Gust Rejection in Quad-Rotor UAV Wind Turbine Inspection
Author/s:
  • Suárez Fernández, Ramón
  • Domínguez Cabrerizo, Sergio
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2017 International Conference on Unmanned Aircraft Systems (ICUAS)
Event Dates: 13-16 June 2017
Event Location: Dallas, Texas, USA
Title of Book: 2017 International Conference on Unmanned Aircraft Systems (ICUAS)
Date: 2017
ISBN: 978-1-5090-4494-8
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This work presents preliminary results of the control method developed for autonomous inspection of wind turbines. High wind gusts are a major deterrent of outdoor Unmanned Aerial Vehicle (UAV) operations, in which, common classical control methods such as Proportional-Integral-Derivative (PID) control do not perform well. Therefore, more robust adaptive control methods must be employed. We propose the use of an L1 adaptive velocity controller that is capable of fast adaptation and guaranteed robustness while withstanding any disturbances encountered during flights. Considerable increase in performance of the L1 adaptive controller is demonstrated by comparing the proposed approach to a Linear Quadratic Regulator (LQR) method in simulation and a benchmark PID controller in several real flight experiments with added wind gusts

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainRTC-2014-1977-3AEROSUnspecifiedINSPECCION AUTONOMA DE AEROGENERADORES EN FUNCIONAMIENTO
Government of SpainDPI2014-60139-RUnspecifiedUnspecifiedAUTONOMIA VISUAL PARA VEHICULOS AEREOS NO TRIPULADOS EN ENTORNOS DINAMICOS

More information

Item ID: 50730
DC Identifier: http://oa.upm.es/50730/
OAI Identifier: oai:oa.upm.es:50730
Official URL: https://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7982995
Deposited by: Memoria Investigacion
Deposited on: 23 Jul 2018 17:46
Last Modified: 23 Jul 2018 17:46
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