A nonlinear adaptive control approach for quadrotor UAVs

Author

Diao, Chen ; Xian, Bin ; Yin, Qiang ; Zeng, Wei ; Li, Haotao ; Yang, Yungao

Author_Institution

Tianjin Key Lab. of Process Meas. & Control, Tianjin Univ., Tianjin, China

fYear

2011

fDate

15-18 May 2011

Firstpage

223

Lastpage

228

Abstract

In this paper, a continuous, time varying adaptive controller is developed for an underactuated quadrotor unmanned aerial vehicle (UAV). The vehicle´s dynamic model is subject to uncertainties associated with mass, inertia matrix, and aerodynamic damping coefficients. A Lyapunov based approach is utilized to ensure that position and yaw rotation tracking errors are ultimately driven to a neighborhood about zero that can be made arbitrary small. Simulation results are included to illustrate the performance of the control strategy.

Keywords

adaptive control; aerospace robotics; continuous time systems; damping; helicopters; matrix algebra; nonlinear control systems; remotely operated vehicles; time-varying systems; vehicle dynamics; Lyapunov based approach; aerodynamic damping coefficients; continuous controller; inertia matrix; mass matrix; nonlinear adaptive control approach; quadrotor UAV; time varying controller; underactuated quadrotor unmanned aerial vehicle; vehicles dynamic model; yaw rotation tracking errors; Adaptation model; Adaptive control; Aerodynamics; Damping; Trajectory; USA Councils; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ASCC), 2011 8th Asian

Conference_Location

Kaohsiung

Print_ISBN

978-1-61284-487-9

Electronic_ISBN

978-89-956056-4-6

Type

conf

Filename

5899075