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dc.contributor.authorAgarwal, Anmolen_US
dc.contributor.authorNg, Ee Mengen_US
dc.contributor.authorLow, Kin Huaten_US
dc.identifier.citationAgarwal, A., Ng, E. M. & Low, K. H. (2021). Adaptive control of unmanned quadrotor with partial actuator failure using model reference adaptive control (MRAC) with dynamic inversion. 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 10-19.
dc.description.abstractUnmanned Aerial Vehicles (UAVs) often experience disturbances during operation, which will degrade its performance and may cause potential failure, affecting safety risks to civilians and other 3rd parties. In such event, UAVs with the common cascaded PID control might not be sufficient to compensate for this reduction in performance. This paper proposes to analyze algorithm for adaptive control, mainly focused on the model reference adaptive control (MRAC) such that despite any uncertainty the plant parameters remain close to the behavior of a desired reference model along with dynamic inversion as an adaptive controller for such scenarios which helps in decoupling of the flight states for the non-linear system. The results of the proposed method have been compared with the conventional PID based controller by implanting faults in motor outputs. In addition, the performance of the controls is evaluated in terms of trajectory following capability.en_US
dc.description.sponsorshipCivil Aviation Authority of Singapore (CAAS)en_US
dc.description.sponsorshipNanyang Technological Universityen_US
dc.rights© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
dc.subjectEngineering::Mechanical engineeringen_US
dc.titleAdaptive control of unmanned quadrotor with partial actuator failure using model reference adaptive control (MRAC) with dynamic inversionen_US
dc.typeConference Paperen
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.contributor.conference2021 International Conference on Unmanned Aircraft Systems (ICUAS)en_US
dc.contributor.researchAir Traffic Management Research Instituteen_US
dc.description.versionAccepted versionen_US
dc.subject.keywordsLyapunov Functionen_US
dc.subject.keywordsDynamic Inversionen_US
dc.subject.keywordsModel Reference Adaptive Controlen_US
dc.citation.conferencelocationAthens, Greeceen_US
dc.description.acknowledgementThis research is supported by the Civil Aviation Authority of Singapore and the Nanyang Technological University, Singapore under their collaboration in the Air Traffic Management Research Institute.en_US
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