Adaptive control of a quadrotor aerial vehicle with input constraints and uncertain parameters |
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Authors: | Trong-Toan Tran Wei He |
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Affiliation: | 1. Division of Computational Mechatronics, Institute for Computational Science, Ton Duc Thang University, Ho Chi Minh City, Vietnam;2. Faculty of Electrical &3. Electronics Engineering, Ton Duc Thang University, Ho Chi Minh City, Vietnam;4. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China |
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Abstract: | In this paper, we address the problem of adaptive bounded control for the trajectory tracking of a Quadrotor Aerial Vehicle (QAV) while the input saturations and uncertain parameters with the known bounds are simultaneously taken into account. First, to deal with the underactuated property of the QAV model, we decouple and construct the QAV model as a cascaded structure which consists of two fully actuated subsystems. Second, to handle the input constraints and uncertain parameters, we use a combination of the smooth saturation function and smooth projection operator in the control design. Third, to ensure the stability of the overall system of the QAV, we develop the technique for the cascaded system in the presence of both the input constraints and uncertain parameters. Finally, the region of stability of the closed-loop system is constructed explicitly, and our design ensures the asymptotic convergence of the tracking errors to the origin. The simulation results are provided to illustrate the effectiveness of the proposed method. |
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Keywords: | Quadrotor aerial vehicle bounded control input saturation adaptive control trajectory tracking problem |
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