Abstract
This paper addresses a robust trajectory tracking controller for an underactuated quadrotor with external bounded disturbances and unknown inertia parameters. Different from most of the existing control algorithms, the proposed method does not adopt the dual-loop scheme in which the design is divided into position control and attitude control. Instead, command filter backstepping is employed to design the controller based on the integrated motion model such that the stability can be guaranteed strictly for the flight control system. Furthermore, adaptive compensation and robust compensation are introduced to deal with the uncertainty of the inertia parameters and the external bounded disturbances, respectively. Finally, a similar skew symmetric structure is chosen as the desired structure of the closed-loop system to facilitate the analysis of the stability of the integrated system. Stability and robust performance of the designed controller are verified by Lyapunov stability theorem. Simulations are provided to validate the proposed controller.
Highlights
The unmanned aerial vehicles (UAV) have attracted the extensive attention from researchers in the field of control
A global fast dynamic terminal sliding mode control method was proposed for the position and attitude tracking control [6]; a backstepping approach based on a full state cascaded dynamics has been introduced in [7]; an observer-based adaptive fuzzy backstepping controller was designed for trajectory tracking of a quadrotor under wind gust conditions and parametric uncertainties [8]
Some denotations are introduced as follows: λ0 stands for the nominal value of λ, which belongs to prior information for attitude controller design, and the relative error is denoted as Δλ = λ − λ0; λis an estimate of the unknown parameter vector λ; estimation error vector is expressed by λ = λ − λ
Summary
The unmanned aerial vehicles (UAV) have attracted the extensive attention from researchers in the field of control. The stability of these methods is proved, respectively, for the related control loop; respectively, the stability of the integrated flight control system cannot be guaranteed strictly To overcome this drawback, a command filtered implementation approach for adaptive backstepping has been introduced in [11], and the stability of the closedloop system is proved via Lyapunov direct method. An adaptive command filtered backstepping flight control law has been applied to the trajectory tracking problem of a nonlinear quadrotor model [12]. A trajectory tracking controller is designed for a quadrotor by employing a robust command filtered adaptive backstepping control method based on the integrated flight motion model.
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