Quadrotor unmanned aerial vehicles (UAVs) are recognized to be capable of various tasks including search and rescue and surveillance for their agilities and small sizes. This paper proposes a simple and robust quadrotor controller utilizing online Iterative Learning Control (ILC) that is known to be useful for tasks performed repeatedly. The controller is used for trajectory tracking to perform a variety of manoeuvring such as take-off, landing, smooth translation, and circular trajectory motion. Different online ILCs are studied and simulation results prove the ability to gain full autonomy and perform successfully certain missions in the presence of considerably large disturbances.
- Design Engineering Division and Computers and Information in Engineering Division
Quadrotor UAV Control: Online Learning Approach
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Pipatpaibul, P, & Ouyang, PR. "Quadrotor UAV Control: Online Learning Approach." Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B. Washington, DC, USA. August 28–31, 2011. pp. 701-710. ASME. https://doi.org/10.1115/DETC2011-47095
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