Nonlinear Control for An Underactuated Quadrotor Unmanned Aerial Vehicle with Parametric Uncertainties

摘要：

A new nonlinear tracking controller is presented for an underactuated quadrotor unmanned aerial vehicle (UAV) in this paper. The vehicle is subject to parametric uncertainties. A continuous nonlinear robust control design is combined with an on-line parameter estimation scheme to develop the control law. A Lyapunov based stability analysis is utilized to prove that asymptotic tracking of the quadrotor UAV’s position and regulation of yaw orientation are achieved under parametric uncertainties. Compared with sliding mode based control approaches, the proposed control design in this paper is free of chattering. Numerical simulation results of a 6 DOF quadrotor UAV model are included to demonstrate the good tracking performance of the proposed control strategy.

关键词： Nonlinear Control Quadrotor Underactuated System

作者: Chen Diao Bin Xian Xun Gu Bo Zhao Jianchuan Guo

作者单位: The Institute of Robotics and Autonomous System,The Tianjin Key Laboratory of Process Measurement an The Institute of Robotics and Autonomous System, The Tianjin Key Laboratory of Process Measurement a

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 998-1003

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）