Robust Nonlinear Control-Based Trajectory Tracking for Quadrotors Under Uncertainty
| Autor: | Yiannis Aloimonos, Krishna Bhavithavya Kidambi, Cornelia Fermüller, Huan Xu |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Control and Optimization Computer simulation Computer science 02 engineering and technology Nonlinear control Stability (probability) Vehicle dynamics symbols.namesake 020901 industrial engineering & automation Computer Science::Systems and Control Control and Systems Engineering Control theory Position (vector) 0202 electrical engineering electronic engineering information engineering symbols Trajectory 020201 artificial intelligence & image processing Parametric statistics |
| Zdroj: | IEEE Control Systems Letters. 5:2042-2047 |
| ISSN: | 2475-1456 |
| DOI: | 10.1109/lcsys.2020.3044833 |
| Popis: | This letter presents a modified robust integral of signum error (RISE) nonlinear control method, for quadrotor trajectory tracking and control. The proposed control algorithm tracks trajectories of varying speeds, uncertainties and disturbance magnitudes. The control law presented achieves asymptotic regulation of the quadrotor states in the presence of parametric uncertainties and disturbances. To achieve the results, first the quadrotor UAV dynamics are derived in a strict form. Then, a robust state feedback control is developed in both the position and attitude loop respectively. A detailed Lyapunov-based stability analysis is provided which proves the proposed control method theoretically guarantees asymptotic regulation of the quadrotor states. To illustrate the performance of the proposed control method, comparative numerical simulation results are provided, which demonstrate an improved performance under varying disturbance and uncertain magnitudes. |
| Databáze: | OpenAIRE |
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