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G. Antonelli, E. Cataldi, P. Robuffo Giordano, S. Chiaverini, A. Franchi. Experimental validation of a new adaptive control scheme for quadrotors MAVs. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Pages 2439-2444, Tokyo, Japan, November 2013.

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In this paper, an adaptive trajectory tracking controller for quadrotor MAVs is presented. The controller exploits the common assumption of a faster orientation dy- namics w.r.t. the translational one, and is able to asymptotically compensate for parametric uncertainties (e.g., displaced center of mass), as well as external disturbances (e.g., wind). The good performance of the proposed controller is then demonstrated by means of an extensive experimental evaluation performed with a commercially-available quadrotor MAV

BibTex Reference

   Author = {Antonelli, G. and Cataldi, E. and Robuffo Giordano, P. and Chiaverini, S. and Franchi, A.},
   Title = {{Experimental validation of a new adaptive control scheme for quadrotors MAVs}},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013},
   Pages = {2439--2444},
   Address = {Tokyo, Japan},
   Month = {November},
   Year = {2013}

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