Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances Article - Janvier 2018

Gianluca Antonelli, Elisabetta Cataldi, Filippo Arrichiello, Paolo Robuffo Giordano, Stefano Chiaverini, Antonio Franchi

Gianluca Antonelli, Elisabetta Cataldi, Filippo Arrichiello, Paolo Robuffo Giordano, Stefano Chiaverini, Antonio Franchi, « Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances  », IEEE Transactions on Control Systems Technology, janvier 2018, pp. 248-254. ISSN 1063-6536

Abstract

The paper presents an adaptive trajectory tracking control strategy for quadrotor Micro Aerial Vehicles (MAVs). The proposed approach, while maintaining the common assumption of an orientation dynamics faster than the translational one, removes the assumption of absence of external disturbances and of Geometric Center coincident with the Center of Mass. In particular, the trajectory tracking control law is made adaptive with respect to the presence of external forces and moments (e.g., due to wind) and to the uncertainty of parameters of the dynamic model, such as the position of the center of mass. A stability analysis is presented to analytically support the proposed controller, while numerical simulations are provided in order to validate its performance.

Voir la notice complète sur HAL

Actualités