Robust trajectory tracking control of a quadrotor helicopter

Author

Guadarrama-Olvera, J. Rogelio ; Rodriguez-Cortes, H. ; Castro-Linares, Rafael

Author_Institution

Centro de Investig. y Estudios Av., IPN, Mexico City, Mexico

fYear

2014

fDate

24-27 June 2014

Firstpage

908

Lastpage

913

Abstract

In this paper, a nonlinear controller endowed with a disturbance´s estimator, based on the Immersion and Invariance control technique, is proposed. This nonlinear controller is applied to the six degrees of freedom dynamics of the quadrotor helicopter to achieve regulation and trajectory tracking. The proposed estimator can reconstruct constant disturbances entering additively to the dynamic model. An experimental evaluation was carried out in order to show the performance of the proposed controller.

Keywords

aircraft control; autonomous aerial vehicles; helicopters; invariance; mobile robots; nonlinear control systems; robot dynamics; robust control; trajectory control; vehicle dynamics; 6 DOF quadrotor helicopter dynamics; UAV; constant disturbance reconstruction; disturbance estimator; immersion control technique; invariance control technique; nonlinear controller; regulation tracking; robust trajectory tracking control; unmanned aerial vehicles; Equations; Estimation error; Mathematical model; Robustness; Trajectory; Upper bound; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2014 European

Conference_Location

Strasbourg

Print_ISBN

978-3-9524269-1-3

Type

conf

DOI

10.1109/ECC.2014.6862570

Filename

6862570