Adaptive Backstepping based Linear Parameter Varying Model Predictive Control Multi-rotor UAVs

Abstract

Unmanned Aerial Vehicles (UAVs) now play critical roles in a wide range of real-world applications and improving their control performance has become an increasingly appealing research topic. The goal of this paper is to solve the problem of controlling UAVs subject to external disturbances to maintain the desired trajectory while ensuring reliable and rapid convergence to the actual values. This paper presents a novel approach for the design and stability analysis of an adaptive trajectory tracking control for a multi-rotor UAV. UA V controllers are divided into two parts: position controllers and attitude controllers. A new Linear Parameter Varying Model Predictive Controller (LPV -MPC) is designed for attitude controller stabilization and quick tracking of the desired values of the Euler angles. The position controller is in charge of the position variables., which are calculated using the adaptive backstepping method and the targeted reference trajectory. The Lyapunov theory is utilized to prove the stability of the UAV's position controller. Finally., simulation results are provided., which demonstrates the effectiveness of the proposed control framework against disturbances.