Robust Adaptive Control for a Quadrotor UAV With Uncertain Aerodynamic Parameters

In controller design for quadrotors, the drag coefficients, thrust coefficients and aerodynamic damping coefficients are usually un-measurable, and they have to be regarded as uncertain parameters. Meanwhile, the position information provided by the GPS receiver is easy to get disturbed by environme...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on aerospace and electronic systems 2023-12, Vol.59 (6), p.1-15
Main Authors: Wang, Junan, Zhu, Bing, Zheng, Zewei
Format: Article
Language:English
Subjects:
Adaptation models
Adaptive control
Aerodynamics
Autonomous aerial vehicles
Background noise
Backstepping
Closed loops
Continuity (mathematics)
Control systems design
Controllers
Damping
Design parameters
disturbances
Drag coefficients
Euler angles
Feedback control
Global Positioning System
Lipschitz condition
Mathematical models
Noise measurement
Parameter uncertainty
Proportional integral derivative
quadrotor
Quadrotors
Robust control
Rotary wing aircraft
Tracking errors
Trigonometric functions
Unmanned aerial vehicles
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In controller design for quadrotors, the drag coefficients, thrust coefficients and aerodynamic damping coefficients are usually un-measurable, and they have to be regarded as uncertain parameters. Meanwhile, the position information provided by the GPS receiver is easy to get disturbed by environmental noise. A backstepping-based robust adaptive control scheme is proposed in this paper to address uncertain parameters, bounded external disturbances and the noise in measurement. The proposed approach overcomes singularities resulted from using inverse trigonometric functions of Euler angles. A continuous function is introduced to replace signum functions, such that the closed-loop system satisfies Lipschitz condition. Boundedness of estimation errors and tracking errors are guaranteed by the proposed approach and their boundary can be modified. The advantages of the proposed controller are supported by numerical examples and experimental results, where comparisons with PID, backstepping, geometric control and the other existing robust adaptive controller are provided.
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2023.3303133