Abstract This paper addresses a new adaptive attitude controller for quadrotor UAV in the presence of parameters uncertainty and bounded external disturbances. First, an attitude dynamic model is built for the quadrotor UAV, considering parameters uncertainty and bounded external disturbances. Moreover, an adaptive nonsmooth attitude controller is developed by integrating nonsmooth control and adaptive control techniques, based on backstepping approach. And the stability of the closed-loop system is analyzed based on the Lyapunov method. Finally, the effectiveness and advantages of the proposed method are illustrated via some simulation results and comparisons.
Adaptive Nonsmooth Attitude Tracking Control of Quadrotor UAV with Dynamic Uncertainties
Advances in Smart Vehicular Technology, Transportation, Communication and Applications ; 3 ; 135-142
2017-11-03
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Adaptive Spacecraft Attitude Tracking Control with Actuator Uncertainties
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