In the near future, unmanned aerial vehicles are probably going to be included in the airspace. Therefore, air traffic management needs to be enhanced in terms of reliability, safety, and accuracy. The main objective of this paper deals with a quadrotor flight control system that generates the necessary control laws to perform accurately, as well as possible, the reference flight trajectories. In this paper, a new quadrotor flight dynamics is developed, including an adopted wind model component where a study of the minimum phase and observability conditions is performed. Based on an adaptive backstepping control algorithm, a developed flight control system generates nonlinear control laws in an iterative and systematic procedure design. In addition to some simulations in a no-wind situation, the proposed adaptive flight control system is simulated in a windy flight condition. The design of adaptation laws according to some quadrotor parameters is developed, and the global stability of the proposed flight control system is guaranteed using the Lyapunov theory. Numerical simulations are performed for the quadrotor engaged in complex trajectory tracking, and obtained results show the feasibility and effectiveness of the proposed control approach.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Modeling and Adaptive Flight Control for Quadrotor Trajectory Tracking


    Contributors:

    Published in:

    Journal of Aircraft ; 55 , 2 ; 666-681


    Publication date :

    2017-08-14


    Size :

    16 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Quadrotor Helicopter Trajectory Tracking Control

    Hoffmann, G. / Waslander, S. / Tomlin, C. et al. | British Library Conference Proceedings | 2008


    Adaptive dynamic control of a quadrotor for trajectory tracking

    Rosales, Claudio / Soria, Carlos / Carelli, Ricardo et al. | IEEE | 2017


    Adaptive dynamic control for trajectory tracking with a quadrotor

    Santos, Milton / Rosales, Claudio / Sarapura, Jorge et al. | IEEE | 2017


    Quadrotor Helicopter Trajectory Tracking Control

    Hoffmann, Gabriel / Waslander, Steven / Tomlin, Claire | AIAA | 2008