An Adaptive Robust Attitude Tracking Control of Quadrotor UAV with the Modified Rodrigues Parameter

Abstract

In this paper, a novel adaptive attitude tracking control method is investigated to enhance tracking performance and robustness for a quadrotor unmanned aerial vehicle (UAV) against the modeling uncertainties and external disturbances. First, the attitude dynamics of a quadrotor UAV based on the modified Rodrigues parameter (MRP) is derived. Then, an adaptive dynamic surface technique with robust integral of the sign of the error (RISE) control approach are designed to improve the tracking performance and robustness of the quadrotor attitude control system suffering from the uncertainties and disturbances. A prescribed performance function is employed to improve the tracking performance of the quadrotor UAV by restraining the tracking errors range. The stability analysis proves the presented control scheme can guarantee all the close-loop control system signals are bounded and control system is uniformly ultimately bounded. Simulation results are carried out to demonstrate the superior and effective performance of the presented control method.