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Adaptive tracking controller for hexacopters with a wind disturbance

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Abstract

In this paper, we propose an adaptive trajectory tracking control scheme for hexacopters with a wind disturbance. Using conventional controllers, position and attitude of hexacopters cannot be controlled independently. Using tilted rotors, it is expected that the problem of conventional controllers can be overcome. Therefore, we will develop an adaptive trajectory tracking controller for hexacopters with tilted rotors. The developed controller can ensure good control performance even if there exist uncertainties and unknown wind disturbances. Finally, to confirm the usefulness of the proposed controller, numerical simulations are carried out.

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Authors and Affiliations

  1. Kyushu Institute of Technology, 1-1 sensui, Kitakyushu, Japan

    Shingo Kase & Masahiro Oya

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  1. Shingo Kase
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  2. Masahiro Oya
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Correspondence to Shingo Kase.

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Kase, S., Oya, M. Adaptive tracking controller for hexacopters with a wind disturbance. Artif Life Robotics 25, 322–327 (2020). https://doi.org/10.1007/s10015-020-00586-7

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  • DOI: https://doi.org/10.1007/s10015-020-00586-7

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