Adaptive tracking control of a quadrotor unmanned vehicle

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• 作者：To Xuan Dinh ; Kyoung Kwan Ahn
• 关键词：Quadrotor helicopter ; Adaptive sliding mode ; Adaptive backstepping
• 刊名：International Journal of Precision Engineering and Manufacturing
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：18
• 期：2
• 页码：163-173
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Industrial and Production Engineering; Materials Science, general;
• 出版者：Korean Society for Precision Engineering
• ISSN：2005-4602
• 卷排序：18

文摘

The design of a flight control system for an under-actuated quadrotor aircraft in presence of parametric uncertainties and external disturbance is quite challenging. In this study, we propose an adaptive trajectory tracking control base on sliding mode approach, an adaptive command filtered backstepping technique to stabilize the attitude of the quadrotor and using online estimators to estimate unknown aerodynamic parameters and external disturbances. First of all, the mathematical model of a quadrotor unmanned aerial vehicle (UAV) is presented. The adaptive tracking trajectory position and attitude control scheme are then formulated and the perturbations in quadrotor system are compensated by employing special Lyapunov functions. Simulation results are given to demonstrate the validity and effectiveness of the proposed algorithm on a quadrotor model under different conditions.