Adaptive dynamic surface trajectory tracking control of a quadrotor unmanned aerial vehicle

被引：4

作者：

Wang N. ^{[1
]}

Wang Y. ^{[1
]}

Er M.-J. ^{[2
]}

机构：

[1] School of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, Liaoning

[2] School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2017年 / 34卷 / 09期

基金：

中国博士后科学基金; 中国国家自然科学基金;

关键词：

Adaptive dynamic surface control; Adaptive uncertainty estimate; Quadrotor unmanned aerial vehicle; Tracking control;

D O I：

10.7641/CTA.2017.60867

中图分类号：

学科分类号：

摘要：

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. © 2017, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.

引用

页码：1185 / 1194

页数：9

共 24 条

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