Adaptive tracking control of an underactuated aerial vehicle

Adaptive tracking control of an underactuated aerial vehicle,DongBin Lee,C. Nataraj,Timothy C. Burg,Darren M. Dawson

Adaptive tracking control of an underactuated aerial vehicle  
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In this paper, adaptive tracking control of an underactuated quadrotor is addressed. Position and yaw trajectory tracking is designed using state feedback control system and an integrator backstepping approach is applied to this coupled and cascaded dynamic system. The control design is further complicated by considering the parametric uncertainty of the dynamic modeling of the quadrotor aerial- robot vehicle. Projection-based adaptive control schemes are then designed to estimate the unknown parameters. Lyapunov-type stability analysis and numerical simulation results which yields a bounded tracking result are shown to demonstrate the initial validity of the proposed controllers. I. INTRODUCTION This paper emphasizes on the control of an underac- tuated quadrotor to obtain the position tracking about X-, Y-, and Z-axes and also yaw angle tracking along the trajectories in the presence of parametric uncertainty. The translational dynamic model for motion is cascaded and coupled with the rotational dynamics, which causes hard to control the system. To obtain both control objectives simultaneously, a well-known backstepping approach is utilized. Many researchers (e.g., (2),(10),(14)) have proposed a variety of control solutions for the underactuated quadro- tor system. In (15), the authors presented a feedback controller in the underactuated system in the presence of uncertainty. The work in (3) also presented the results of two model-based control techniques applied to an underactued quadrotor for hoveing and vertical takeoff and landing (VTOL) dynamic model. Of particular note, the system dynamics include nonlinearities in the aerodynamic forces. In (15), the authors use feedback linearization to explicitly control the roll, pitch, and yaw angles and the height of a quadrotor vehicle. Of special significance in this work is that the control compensates for wind affects acting on the underactuated quadrotor. An important property of the quadrotor system is that it can be modeled as coupled and cascaded from the gyroscopic effects which are typically negligible in a hovering model, but can not be neglected during fast maneuvering or for large angular motions. A feasible con- trol solution to a system in this form is the backstepping
Published in 2011.
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