This article proposes an adaptive controller for a quadrotor UAV for carrying unknown payloads while tracking any trajectory. The proposed adaptive controller is robust to modeling uncertainties and does not require any a priori knowledge of the bounds of the uncertainties. The controller is also robust to time-varying delays without any constraint on the derivative of the time delay. In addition, the stability of the closed-loop system is analyzed via a Lyapunov-like method. The controller’s performance is verified using a simulated quadrotor model in MATLAB in three different scenarios with varying time delays and parametric uncertainties.


    Access

    Download


    Export, share and cite



    Title :

    Adaptive Robust Control for Quadrotors with Unknown Time-Varying Delays and Uncertainties in Dynamics




    Publication date :

    2022




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Adaptive Artificial Time Delay Control for Quadrotors under State-dependent Unknown Dynamics

    Dantu, Swati / Yadav, Rishabh Dev / Roy, Spandan et al. | German Aerospace Center (DLR) | 2023

    Free access


    Adaptive Flight Control with Unknown Time-Varying Unstable Zero Dynamics

    Islam, Syed Aseem Ul / Bruce, Adam L. / Nguyen, Tam W. et al. | AIAA | 2020



    ADAPTIVE FLIGHT CONTROL WITH UNKNOWN TIME-VARYING UNSTABLE ZERO DYNAMICS

    Islam, Syed Aseem Ul / Bruce, Adam L. / Nguyen, Tam W. et al. | TIBKAT | 2020