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Suárez Fernández, Ramón ORCID: https://orcid.org/0000-0003-4102-5899, Domínguez Cabrerizo, Sergio
ORCID: https://orcid.org/0000-0002-9498-5407 and Campoy Cervera, Pascual
ORCID: https://orcid.org/0000-0002-9894-2009
(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.
Title: | L1 Adaptive Control for Wind Gust Rejection in Quad-Rotor UAV Wind Turbine Inspection |
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Author/s: |
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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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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
Item ID: | 50730 |
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DC Identifier: | https://oa.upm.es/50730/ |
OAI Identifier: | oai:oa.upm.es:50730 |
Official URL: | https://ieeexplore.ieee.org/xpl/mostRecentIssue.js... |
Deposited by: | Memoria Investigacion |
Deposited on: | 23 Jul 2018 17:46 |
Last Modified: | 23 Jul 2018 17:46 |