Print Email Facebook Twitter Investigation of L1 Adaptive Control as an Augmentation Loop Title Investigation of L1 Adaptive Control as an Augmentation Loop Author Vicente Melo E Carvalho Marques, Mariana (TU Delft Aerospace Engineering; TU Delft Control & Operations) Contributor Chu, Q. P. (mentor) van Kampen, E. (mentor) Pavel, M.D. (graduation committee) Degree granting institution Delft University of Technology Programme Aerospace Engineering Date 2017-06-09 Abstract L1 adaptive control is a relatively new technique that attempts to tackle the robustness shortcoming of the MRAC controller by applying a low pass filter to the control input. It can be used as an augmentation loop using baseline controllers such as backstepping or PID. This controller has been implemented as an augmentation loop with both these baseline controllers in three models: a quadcopter, a hexacopter and a Bolkow Bo-105 helicopter 3 degree of freedom model. It is then compared to the baseline where it's shown that this implementation does not provide any significant advantages over the baseline controllers. Subject l1adaptivecontrolquadcopterhexacopterhelicopterbacksteppingPID To reference this document use: http://resolver.tudelft.nl/uuid:c1867615-3b98-441d-ae74-25bcde00dce9 Embargo date 2022-06-09 Part of collection Student theses Document type master thesis Rights © 2017 Mariana Vicente Melo E Carvalho Marques Files PDF ThesisReportMarianaMarques.pdf 2.47 MB Close viewer /islandora/object/uuid:c1867615-3b98-441d-ae74-25bcde00dce9/datastream/OBJ/view