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Adaptive Controller for Drones
Designed an adaptive controller to stabilize a DJI Mavic drone in case of a rotor malfunction mid-flight. Used Model Reference Adaptive Controller (MRAC) and compared it with the performance of Linear quadratic regulator, the results can be seen below
Without adaptive control
With adaptive control
The controller is able to stabilize flight in cases leading up-to a thrust loss of 77% from rotor malfunction
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