I've been reviewing the latest developments in "Adaptive Control" as opposed to PID control and came across this video of a quad adapting to a broken rotor blade. Hopefully, we will soon use these types of algorithms in our own diydrones projects.
I don't really see how Adaptive Control is different than making the weights used in PID control variable/based on the current conditions of the craft. Ie, assign each "rotor" a "lift" value. If, at the maximum correction situation, the craft does not correct than adjust the lift values of the rotors. Am I missing something?
Hi Greg ! (Prof. GK Egan, the great Quadrocopter Guru), There is PID type of contol method in the firmware of your UAVP, UAVX & UAXNav, I think adaptive type of control method is much better and would highly be desirable to be implimented in your Quadrocopter firmware.
It is evident from the video that adaptive control is far far better as compared with PID control.
My special thanks to you for bringing this thing in the eye of DIY comminity !
Aside to Billu Bhaiya & Ben Levitt, Jordi: It is certainly a very nice thing and can be adopted in UDB & Ardupilot.
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Extract from (Predictor-Based Model Reference Adaptive Control - Paper)
My special thanks to you for bringing this thing in the eye of DIY comminity !
Aside to Billu Bhaiya & Ben Levitt, Jordi: It is certainly a very nice thing and can be adopted in UDB & Ardupilot.
http://itunes.apple.com/us/podcast/nasa-aeronautics-research/id2046...
Here's a NASA paper that discusses an algorithm and points to some sources for more detail.
http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20090032037_20...
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