5.5 PD+Adaptive Nonlinear Compensation Controller Testing

This section examines the performance of the adaptive nonlinear compensation controller. Subsection 5.5.1 studies the simulated performance of the adaptation algorithm, and discusses methods used to enhance its performance. Subsection 5.5.2 evaluates the performance of the controller when the vehicle is tracking a multi-axis sinusoidal tumble trajectory, and learning the system parameters starting with initial parameter estimates set to zero.