Adaptive Control for UAVs

Author: Jesus Tordesillas

This repo has the code implemented for the project of Nonlinear Control (2.152) at MIT. When using this code, please cite it as follows:

@techreport{jtordeadaptive2019,
     title = {{Parameter Estimation and Dynamic Extension for a Quadrotor}},
     author = {Jesus Tordesillas},
     year = {2019},
     url = {https://github.com/jtorde/uav_adaptive_control},
     institution = {Aerospace Controls Lab},
     month = {05}
}

Introduction:

Implementation in MATLAB of the following adaptive controllers:

Tracking error based (TEB)
Constant gain (CG)
Bounded-gainforgetting (BGF)
Cushioned-floor (CF)

See the pdf file for a detailed description.

Instructions:

Clone this repository:

git clone https://github.com/jtorde/uav_adaptive_control

and execute the file main.m in MATLAB

Results for constant parameters:

Estimated parameters:
Position error:
Inputs:

Results for time-varying parameters:

Estimated parameters:
Position error:
Inputs:

Feedback Linearization:

License

BSD 3-Clause, see License file attached

jtorde / uav_adaptive_control