This paper presents a trajectory tracking controller for multi-rotor UAVs to improve their flight performance in the presence of various uncertainties. The proposed tracking system consists of a velocity guidance law based on relative distance and an L1 adaptive augmentation loop for tracking velocity commands. In the proposed structure, the desired velocity generated by the guidance law is the reference value for the adaptive controller for accurate path tracking. In the guidance law, the desired acceleration is generated based on the relative distance and its derivatives, and the velocity command of the inner control loop is then calculated. The L1 augmentation loop compensates the linear controller to guarantee the flight performance parameters such as tracking accuracy in the presence of uncertainties, which include aerodynamic disturbances, modeling error, outdoor environmental factors, and flight dynamics changes. The proposed controller was validated in actual flight tests to successfully demonstrate its capabilities using a quad-rotor UAV.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A trajectory-tracking controller design using L1 adaptive control for multi-rotor UAVs


    Contributors:


    Publication date :

    2015-06-01


    Size :

    1073090 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Research on Trajectory Tracking and Point Control Strategies for Multi-rotor UAVs

    Di, Lingsong / Qi, Yahui / Sun, Defeng et al. | Springer Verlag | 2025


    Robust Tracking Control for Multi-rotor UAVs Using Sliding Mode Control

    Umemoto, K. / Ikeda, T. / Matsuno, F. | British Library Online Contents | 2014


    Trajectory tracking control of thrust-vectoring UAVs

    Invernizzi, Davide / Lovera, Marco | BASE | 2018

    Free access

    UNIVERSAL CONTROLLER FOR ROBUST TRAJECTORY TRACKING IN MULTIROTOR UNMANNED AERIAL VEHICLES (UAVs)

    GOMEZ GUTIERREZ DAVID / FALCONER MAYNARD C | European Patent Office | 2019

    Free access

    UNIVERSAL CONTROLLER FOR ROBUST TRAJECTORY TRACKING IN MULTIROTOR UNMANNED AERIAL VEHICLES (UAVs)

    GOMEZ GUTIERREZ DAVID / FALCONER MAYNARD C | European Patent Office | 2017

    Free access