Lyapunov-based robust adaptive control of a quadrotor UAV in the presence of modeling uncertainties

This paper presents the development of a robust adaptive controller for the dynamics of a quadrotor unmanned aerial vehicle (UAV) in the presence of linear-in-the-parameter uncertainties and bounded exogenous disturbances. The controller is designed to asymptotically track a desired position and yaw...

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Bibliographic Details
Main Authors: Bialy, B. J., Klotz, J., Brink, K., Dixon, W. E.
Format: Conference Proceeding
Language:English
Subjects:
Attitude control
Backstepping
Force
Stability analysis
Trajectory
Uncertainty
Vectors
Online Access:Request full text
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Summary:This paper presents the development of a robust adaptive controller for the dynamics of a quadrotor unmanned aerial vehicle (UAV) in the presence of linear-in-the-parameter uncertainties and bounded exogenous disturbances. The controller is designed to asymptotically track a desired position and yaw angle trajectory via a modular adaptive update law and a robust integral sign of the error (RISE) feedback term. A Lyapunov-based stability analysis is used to prove asymptotic tracking of the desired states and to ensure all closed-loop signals remain bounded.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2013.6579806