This paper presents an ℒ1 adaptive controller to achieve the trajectory tracking for a quadrotor helicopter. The designed controller is based on nonlinear feed-forward compensations and uses a typical nonlinear quadrotor model considering uncertain inertial parameters and external disturbances. The ℒ1 adaptive control design is slightly modified to comply with the position error dynamic and the attitude dynamic. The proposed ℒ1 adaptive controller yields uniformly verifiable bounds on the transient and steady state tracking error for any designated bounded reference trajectory. In the presence of a fast adaptation, the adaptive controller with low-pass filters compensates for uncertainties and bounded disturbances in a particular frequency range. Finally, simulation results are included to validate the effectiveness of this control design.
Trajectory tracking of a quadrotor helicopter based on ℒ1 adaptive control
2016-08-01
364811 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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