Immersion and Invariance based Adaptive Attitude Tracking Control of a Quadrotor UAV in the Presence of Parametric Uncertainty
In this paper,a new adaptive controller for a quadrotor unmanned aerial vehicle (UAV) is presented via Immersion and Invariance (I&I) approach.The quadrotor’s dynamic model is subjected to some uncertain parameters such as the inertial moments,aerodynamic damping coefficients and so on.In particular,the mass-eccentric effects by the payloads are also considered.Despite all these uncertainties above,the proposed adaptive controller is still capable of driving the quadrotor UAV’s attitude asymptotically to a desired trajectory.The stability analysis is performed by Lyapunov techniques and LaSalle’s invariance theorem.Numerical simulation results illustrate the good tracking performance of the proposed scheme.
quadrotor UAV adaptive control immersion and invariance I&I
Bo Zhao Bin Xian Yao Zhang Xu Zhang
The Institute of Robotics and Autonomous System,the Tianjin Key Laboratory of Process Measurement and Control,School of Electrical Engineering and Automation,Tianjin University,Tianjin 300072
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1932-1937
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）