Adaptive Control

Dubins Adaptive Control

Dubins Adaptive Control Animation

Robust path following for a Dubins Vehicle with adaptive compensation under loss of turning effectiveness.

Augmented Adaptive Control

MSBS System Diagram

Explore how an LQR-PI controller with Adaptive Control handles real-time uncertainties in 6 DOF dynamics and the MSBS.

Adaptation and Obstacle Avoidance with Control Saturation

Quadrotor Control Saturation

Integrating adaptive control with control saturation to a 6 DOF nonlinear quadrotor.

Adaptation and Obstacle Avoidance: Closed Loop Reference Model

Quadrotor Closed Loop Model

Adaptive nonlinear control with a CRM to manage transient response of a 6 DOF nonlinear quadrotor.

Adaptation and Obstacle Avoidance: Open Loop Reference Model

Quadrotor Open Loop Model

Adaptive Control + CBF approach to improve safety and handle parametric uncertainties in a 6 DOF nonlinear quadrotor.