Adaptive dynamic surface trajectory tracking control of a quadrotor unmanned aerial vehicle
WANG Ning
WANG Yong
ER Meng-joo
Abstract：In this paper, an adaptive dynamic surface trajectory tracking control scheme using adaptive uncertainty compensator is proposed for a quadrotor unmanned aerial vehicle(QUAV)with unknown external disturbances and system uncertainties. By dividing the quadrotor system into three subsystems, i.e., dynamics of positions, attitude angles and angular velocities,virtual controller design for subsystems can tackle underactuated constraints well. The derivatives of the virtual control signals are avoided by employing some first-order filters which are required successively in the dynamic surface control. Adaptive uncertainty compensators for unknown nonlinearities including unknown external disturbances and uncertainties contribute to the closed-loop system stability,uniformly ultimately bounded tracking errors and bounded states. Simulation studies and experiment results demonstrate the effectiveness and superiority of the proposed trajectory tracking control scheme.
Keywords：quadrotor unmanned aerial vehicletracking controladaptive dynamic surface controladaptive uncertainty estimate
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 1185-1194 )