Year: 2024
Type: article
Abstract: This paper demonstrates the sim-to-real capabilities of retrospective cost optimization-based adaptive control for multirotor stabilization and trajectory-tracking problems. First, a continuous-time version of the widely used discrete-time retrospective control adaptive control algorithm is developed. Next, a computationally inexpensive 12-degree-of-freedom model of a multirotor is used to learn the control system in a simulation environment with a single trajectory. Finally, the performance of the learned controller is verified in a complex and realistic multirotor model in simulation and with a physical quadcopter in a waypoint command and a helical trajectory command.
DOI: 10.13016/m2pba0-3t9r
Authors: Mirtaba, Mohammad, Oveissi, Parham, Goel, Ankit
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W6903639408
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