Investigation of L1 Adaptive Control as an Augmentation Loop
Mariana Vicente Melo E Carvalho Marques (TU Delft - Aerospace Engineering)
Qiping Chu – Mentor (TU Delft - Aerospace Engineering)
Erik-jan van Kampen – Mentor (TU Delft - Aerospace Engineering)
Marilena Pavel – Graduation committee member (TU Delft - Aerospace Engineering)
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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.