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research-article

Adaptive robust output feedback control for attitude tracking of quadrotor unmanned aerial vehicles

Author:

Zi‐Jiang YangAuthors Info & Claims

International Journal of Adaptive Control and Signal Processing, Volume 35, Issue 10

Pages 2075 - 2093

https://doi.org/10.1002/acs.3309

Published: 03 October 2021 Publication History

Summary

This work proposes a new adaptive robust output feedback control method for attitude reference tracking of a quadrotor unmanned aerial vehicle without using the angular velocity measurements. By using the K‐filters well known in the adaptive control community, the necessity of velocity measurements or estimating is avoided. The attitude system model is transformed into a second‐order model where the angular velocity measurements are not involved. However, the model includes mismatched uncertainties which should be estimated and compensated by the disturbance observers (DOBs). The controller is designed in a backstepping manner, and the dynamic surface technique is adopted to avoid the explosion of the controller complexity. For each Euler angle axis, the prescribed performance control technique is adopted to ensure a prescribed performance, the lumped disturbance is compensated by a DOB, and furthermore an adaptive law is introduced to adaptively update the corresponding uncertain inertia parameter which affects the control performance significantly. The control performance of the overall control system is analyzed rigorously from the viewpoint of input‐to‐state practical stability. In addition, it is shown how the adaptive laws contribute to improving the control performance. And simulation examples are provided to demonstrate the performance of the proposed method.

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Cited By

Sattar AWang LAnsari SHoshu AKhan S(2023)Disturbance rejection enhancement using predictive control for the fixed‐wing UAV with multiple aileronsInternational Journal of Adaptive Control and Signal Processing10.1002/acs.356137:5(1072-1101)Online publication date: 3-May-2023
https://dl.acm.org/doi/10.1002/acs.3561

Index Terms

Adaptive robust output feedback control for attitude tracking of quadrotor unmanned aerial vehicles
1. Computer systems organization
  1. Embedded and cyber-physical systems

Index terms have been assigned to the content through auto-classification.

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Information & Contributors

Information

Published In

cover image International Journal of Adaptive Control and Signal Processing

International Journal of Adaptive Control and Signal Processing Volume 35, Issue 10

October 2021

183 pages

ISSN:0890-6327

EISSN:1099-1115

DOI:10.1002/acs.v35.10

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© 2021 John Wiley & Sons Ltd.

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John Wiley & Sons, Inc.

United States

Publication History

Published: 03 October 2021

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Cited By

Sattar AWang LAnsari SHoshu AKhan S(2023)Disturbance rejection enhancement using predictive control for the fixed‐wing UAV with multiple aileronsInternational Journal of Adaptive Control and Signal Processing10.1002/acs.356137:5(1072-1101)Online publication date: 3-May-2023
https://dl.acm.org/doi/10.1002/acs.3561

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