Title :
Adaptive tracking control of underactuated quadrotor unmanned aerial vehicles via backstepping
Author :
Mu Huang ; Bin Xian ; Chen Diao ; Kaiyan Yang ; Yu Feng
Author_Institution :
Tianjin Key Lab. of Process Meas. & Control, Tianjin Univ., Tianjin, China
fDate :
June 30 2010-July 2 2010
Abstract :
This paper considers about the control problem for an underactuated quadrotor UAV system with model parameter uncertainty. Backstepping based techniques are utilized to design a nonlinear adaptive controller which can compensate for the mass uncertainty of the vehicle. Lyapunov based stability analysis shows that the proposed control design yields asymptotic tracking for the UAV´s motion in x, y, z direction and the yaw rotation, while keep the stability of the closed loop dynamics of the quadrotor UAV. Numerical simulation results are provided to show the good tracking performance of proposed control laws.
Keywords :
Lyapunov methods; adaptive control; aircraft; asymptotic stability; closed loop systems; compensation; control system synthesis; mobile robots; nonlinear dynamical systems; parameter space methods; tracking; vehicle dynamics; Lyapunov method; adaptive control; asymptotic tracking; backstepping technique; closed loop dynamics; mass uncertainty; model parameter uncertainty; nonlinear control; stability analysis; tracking control; underactuated quadrotor UAV; unmanned aerial vehicle; yaw rotation; Adaptive control; Backstepping; Control design; Programmable control; Stability analysis; Tracking loops; Uncertain systems; Uncertainty; Unmanned aerial vehicles; Weight control;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5531424