Adaptive tracking control for quadrotor unmanned flying vehicle

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

18 Scopus citations

Abstract

In this work, we introduce adaptive tracking system for quadrotor flying vehicle in the presence of uncertainty. The uncertainty is assumed to be associated with the vehicles payload mass, inertia matrix, actuator faults, and aerodynamic damping force-moment effects and flying environment. The control input combines desired acceleration and proportional-derivative(PD) like auxiliary signals with an adaptation law to learn and compensate uncertainty. Lyapunov method is employed to analyze the closed loop stability of the translational and rotational dynamics of the vehicle. This analysis shows that the tracking error of the translational and rotational dynamics are bounded to zero. Simulation results on a quadrotor vehicle are presented to demonstrate the effectiveness of theoretical arguments of this paper.

Original languageBritish English
Title of host publicationAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages441-445
Number of pages5
ISBN (Print)9781479957361
DOIs
StatePublished - 2014
Event2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France
Duration: 8 Jul 201411 Jul 2014

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Country/TerritoryFrance
CityBesancon
Period8/07/1411/07/14

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