Robust Adaptive Nonlinear Attitude Control for a Quadrotor UAV

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• 英文论文题名：Robust Adaptive Nonlinear Attitude Control for a Quadrotor UAV
• 论文作者：Senlin Wang ; Shangqiu Shan ; Wei Luo ; Xinhong Yu
• 英文论文作者：Senlin Wang ; Shangqiu Shan ; Wei Luo ; Xinhong Yu ; Quanzhou Institute of Equipment Manufacturing ; Fujian Institute of Research on the Structure of Matter Chinese Academy of Sciences ; National University of Defense Technology ; Institute of Engineering and Computational Mechanics ; University of Stuttgart
• 年：2017
• 作者机构：Quanzhou Institute of Equipment Manufacturing,Fujian Institute of Research on the Structure of Matter Chinese Academy of Sciences;National University of Defense Technology;Institute of Engineering and Computational Mechanics,University of Stuttgart;
• 英文论文关键词：Index Terms-quadrotor ; dynamical model ; attitude control ; Backstepping ; robust adaptive control
• 会议召开时间：2017-07-26
• 会议录名称：第36届中国控制会议论文集（B）
• 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
• 语种：英文
• 分类号：V249.1;V279
• 学会代码：KZLL
• 会议名称：第36届中国控制会议
• 会议地点：中国辽宁大连
• 主办单位：中国自动化学会控制理论专业委员会
• 学会名称：中国自动化学会控制理论专业委员会
• 页数：6
• 文件大小：1422k
• 原文格式：D
• 会议级别：全国

摘要

This paper proposes a robust adaptive Backstepping controller for the quadrotor attitude dynamics. The attitude dynamic model is obtained to translate into a MIMO nonlinear system with generalized uncertainty. To overcome complex disturbances from various uncertainties, we design a strict feedback controller for the system. It's used to counteract the influence of the uncertainties by robust adaptive function, which includes matched disturbance and unmatched disturbance. We propose a new way to estimate the differential signal of the virtual control law and reduces the "computer explosion" problem. The tracking differentiator system is proved to be stable by the Lyapunov stability theorem. The validity and robustness of the proposed control strategy are demonstrated by simulations.
This paper proposes a robust adaptive Backstepping controller for the quadrotor attitude dynamics. The attitude dynamic model is obtained to translate into a MIMO nonlinear system with generalized uncertainty. To overcome complex disturbances from various uncertainties, we design a strict feedback controller for the system. It's used to counteract the influence of the uncertainties by robust adaptive function, which includes matched disturbance and unmatched disturbance. We propose a new way to estimate the differential signal of the virtual control law and reduces the "computer explosion" problem. The tracking differentiator system is proved to be stable by the Lyapunov stability theorem. The validity and robustness of the proposed control strategy are demonstrated by simulations.

引文

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