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This paper presents a trajectory tracking controller for multi-rotor UAVs to improve their flight performance in the presence of various uncertainties. The proposed tracking system consists of a velocity guidance law based on relative distance and an L1 adaptive augmentation loop for tracking velocity commands. In the proposed structure, the desired velocity generated by the guidance law is the reference...
This paper presents a new intelligent agent framework that combines rational decision making with abstractions of sensing and actions for unmanned aerial vehicle (UAV) control systems. The objective of the new framework is to provide self tuning and more adaptability to an onboard autopilot. This is achieved through controlloer switching and tuning by the agent in face of dynamic changes affecting...
Advanced capabilities planned for the next generation of unmanned aircraft will be based on complex new algorithms and non-traditional software elements. These aircraft will incorporate adaptive and intelligent control algorithms that will provide enhanced safety, autonomy, and high-level decision-making functions normally performed by human pilots, as well as robustness in the presence of failures...
This paper addresses the stability and tracking control problem of quadrotor unmanned flying vehicle (UAV) in the presence of uncertainty. Adaptive autonomous sliding mode tracking system is designed by combining robust and adaptive control theory. Lyapunov analysis shows that the proposed algorithms can guarantee asymptotic convergence of the tracking error of the linear and angular motion dynamics...
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