Model Reference Adaptive Control of Multirotor for Missions with Dynamic Change of Payloads During Flight
Toshiya Maki,Moju Zhao,Fan Shi,Kei Okada,Masayuki Inaba,Toshiya Maki,Moju Zhao,Fan Shi,Kei Okada,Masayuki Inaba
Carrying payloads in air is a major mission for multirotor aerial robot. However, the presence of payloads on multirotor aerial robot has a risk of degrading the performance of the flight controller. This concern becomes obvious especially when carrying objects not securely attached to the body or performing aerial manipulation. Therefore, controller with the ability to adapt itself to the effects...
