Robust Approximate Optimal Trajectory Tracking Control for Quadrotors

被引：4

作者：

Li, Rong ^{[1
,2
]}

Yang, Zhengliang ^{[1
]}

Yan, Gaowei ^{[1
]}

Jian, Long ^{[1
]}

Li, Guoqiang ^{[2
]}

Li, Zhiqiang ^{[3
]}

机构：

[1] Taiyuan Univ Technol, Coll Elect & Power Engn, Taiyuan 030024, Peoples R China

[2] China Inst Radiat Protect, Nucl Emergency & Nucl Safety Dept, Taiyuan 030006, Peoples R China

[3] Taiyuan Univ Technol, Coll Mech & Vehicle Engn, Taiyuan 030024, Peoples R China

来源：

AEROSPACE | 2024年 / 11卷 / 02期

基金：

中国国家自然科学基金;

关键词：

ADP; quadrotor; trajectory tracking control; disturbance observer; SLIDING-MODE CONTROL; DISTURBANCE OBSERVER; NONLINEAR-SYSTEMS; ATTITUDE TRACKING; DESIGN; STATE; UAV; HELICOPTER;

D O I：

10.3390/aerospace11020149

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

This paper uses the adaptive dynamic programming (ADP) method to achieve optimal trajectory tracking control for quadrotors. Relying on an established mathematical model of a quadrotor, the approximate optimal trajectory tracking control, which consists of the steady-state control input and the approximate optimal feedback control input, is designed for a nominal system. Considering the compound disturbances in position and attitude dynamic models, disturbance observers are introduced. The estimated values are used to design robust compensation inputs to suppress the effect of the compound disturbances for good trajectory tracking performance. Theoretically, the Lyapunov theorem demonstrates the stability of a closed-loop system. The robustness and effectiveness of the proposed controller are confirmed by the simulation results.

引用

页数：24

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