articleIEEE Transactions on Industrial ElectronicsOct 24, 2014Closed access

Nonlinear Robust Adaptive Tracking Control of a Quadrotor UAV Via Immersion and Invariance Methodology

BZBo ZhaoBXBin XianYZYao ZhangXZXu Zhang

Tianjin University

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Abstract

This paper presents a novel asymptotic tracking controller for an underactuated quadrotor unmanned aerial vehicle using the robust integral of the signum of the error (RISE) method and an immersion and invariance (I&I)-based adaptive control methodology. The control system is decoupled into two parts: the inner loop for attitude control and the outer loop for position control. The RISE approach is applied in the inner loop for disturbance rejection, whereas the I&I approach is chosen for the outer loop to compensate for the parametric uncertainties. The asymptotic tracking of the time-varying 3-D position and the yaw motion reference trajectories is proven via the Lyapunov-based stability analysis and…

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Topics & keywords

Topics
Keywords
  • Control theory (sociology)
  • Parametric statistics
  • Lyapunov function
  • Inner loop
  • Underactuation
  • Adaptive control
  • Exponential stability
  • Nonlinear system
UN Sustainable Development Goals
  • Affordable and clean energy
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