Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances

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

Research output: Contribution to journalArticleAcademicpeer-review

41 Citations (Scopus)

Abstract

This 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 (CoM). 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 CoM. A stability analysis is presented to analytically support the proposed controller, while numerical simulations are provided in order to validate its performance.

Original languageEnglish
Article number7839987
Pages (from-to)248-254
Number of pages7
JournalIEEE Transactions on Control Systems Technology
Volume26
Issue number1
DOIs
Publication statusPublished - Jan 2018
Externally publishedYes

Keywords

  • Adaptive control
  • Micro aerial vehicles

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