Title :
Nonlinear trajectory tracking control of a quadrotor vehicle
Author :
Cunha, Rita ; Cabecinhas, David ; Silvestre, Carlos
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Inst. Super. Tecnico, Lisbon, Portugal
Abstract :
This paper addresses the problem of steering a quadrotor vehicle along a time-dependent trajectory. The problem is formulated so as to take into account force disturbances acting on the vehicle and enforce bounds on the actuation. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that i) guarantees asymptotic stability of the closed-loop system in the presence of constant force disturbances and ii) ensures that the actuation does not grow unbounded as a function of the position errors. Simulation results are presented to assess the performance and robustness of the proposed controller.
Keywords :
adaptive control; aircraft control; asymptotic stability; closed loop systems; helicopters; nonlinear control systems; state feedback; steering systems; trajectory control; asymptotic stability; closed-loop system; force disturbances; nonlinear adaptive state feedback controller; nonlinear trajectory tracking control; position errors; quadrotor vehicle; thrust actuation; time-dependent trajectory; torque actuation; Backstepping; Closed loop systems; Force; Three-dimensional displays; Trajectory; Vectors; Vehicles;
Conference_Titel :
Control Conference (ECC), 2009 European
Conference_Location :
Budapest
Print_ISBN :
978-3-9524173-9-3