Abstract
This article presents a robust adaptive control based on Immersion and Invariance (I&I) method for a class of quadrotors subject to disturbances. The nonlinear model of the considered quadrotor including position subsystem and attitude subsystem is established, which has the characteristics of high nonlinearity, underactuation and strong coupling between the subsystems. To achieve satisfying position tracking performance, an I&I adaptive control approach is proposed for the uncertain position subsystem. To enhance the robustness of the attitude subsystem subject to disturbances, a robust adaptive control law based on disturbance observer (DO) is developed to stabilize the subsystem. The DO for the attitude subsystem is constructed to accommodate unknown external disturbances and a robust adaptive bounding law is designed to dominate the modelling errors. The ultimate boundedness of all the signals in the closed-loop system is proved by Lyapunov-based stability analysis. Experimental results performed on an actual indoor micro quadrotor indicate a better performance of the proposed controller compared with the nominal controller without robust and adaptive parts.
Highlights
Q UADROTOR, as one type of unmanned aerial vehicles (UAV) which consisting of four rotors with a crossing arrangement, has been increasingly used as a preferred UAV platform for various field applications
The outperformed features of quadrotor compared to other UAV are its maneuverability, vertical takeoff/landing (VTOL) ability, low cost and low maintenance [1]
The onboard electronic system of the quadrotor consists of a flight control computer based on STM32F411 and a sensor system
Summary
Q UADROTOR, as one type of unmanned aerial vehicles (UAV) which consisting of four rotors with a crossing arrangement, has been increasingly used as a preferred UAV platform for various field applications. Many studies have been explored on the design of attitude and position controllers for different types of quadrotors. Backstepping controller is designed in [2] by decomposing the model into translation part and rotation part. This decomposition is widely adopted by many researchers in quadrotor controller design. A full state backstepping control for quadrotor is presented in [3] from a different perspective, in which the quadrotor model is composed of three interconnected subsystems: under-actuated subsystem, fully-actuated subsystem and rotors subsystem. In [4], to compensate the Coriolis and gyroscopic torques in attitude subsystem, a quaternion-based feedback control scheme is proposed. The compensation of nonlinearities is especially effective in the case of large-angle maneuvers
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