Abstract
This paper addresses a new adaptive attitude controller for quadrotor UAV in the presence of parameters uncertainty and bounded external disturbances. First, an attitude dynamic model is built for the quadrotor UAV, considering parameters uncertainty and bounded external disturbances. Moreover, an adaptive nonsmooth attitude controller is developed by integrating nonsmooth control and adaptive control techniques, based on backstepping approach. And the stability of the closed-loop system is analyzed based on the Lyapunov method. Finally, the effectiveness and advantages of the proposed method are illustrated via some simulation results and comparisons.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Bouabdallah, S., Murrieri, P., Siegwart, R.: Design and control of an indoor micro quadrotor. In: IEEE International Conference on Robotics and Automation, pp. 4393–4398 (2004)
Bouabdallah, S., Noth, A., Siegwart, R.: PID vs. LQ control techniques applied to an indoor micro quadrotor. In: Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2451–2456 (2004)
Mokhtari, A., Benallegue, A., Daachi, B.: Robust feedback linearization and H∞ controller for a quadrotor unmanned aerial vehicle. In: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1198–1203 (2005)
Lee, T., Leok, M., Mcclamroch, N.H.: Nonlinear robust tracking control of a quadrotor UAV on SE(3). In: Proceedings of the American Control Conference, vol. 15, no. 2, pp. 4649–4654 (2012)
Wang, L., Su, J.: Robust disturbance rejection control for attitude tracking of an aircraft. IEEE Trans. Control Syst. Technol. 23(6), 1 (2015)
Islam, S., Liu, P.X., Saddik, A.E.: Robust control of four-rotor unmanned aerial vehicle with disturbance uncertainty. IEEE Trans. Ind. Electron. 62(3), 1563–1571 (2015)
Quan, Q., Du, G.X., Cai, K.Y.: Proportional-integral stabilizing control of a class of MIMO systems subject to nonparametric uncertainties by additive-state-decomposition dynamic inversion design. IEEE/ASME Trans. Mechatron. 21(2), 1092–1101 (2016)
Hou, M., Duan, G., Guo, M.: New versions of Barbalat’s lemma with applications. J. Control Theor. Appl. 8(4), 545–547 (2010)
Su, Y., Zheng, C.: Global finite-time inverse tracking control of robot manipulators. Robot. Comput. Integr. Manuf. 27(3), 550–557 (2011)
Slotine, J.E., Li, W., Daizhan, C.: Applied Nonlinear Control. China Machine Press, Beijing (2006)
Acknowledgements
The authors would like to thank the anonymous reviewers for their valuable comments. This work was supported in part by Initial Scientific Research Fund in Fujian University of Technology under Grant GY-Z13101, in part by the Natural Science Foundation of Fujian Province under Grant 2017H11171120, and in part by the Surveying, Mapping and Geoinformation Technology Project of Fujian Province under Grant 2017JK05.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
He, D., Gao, P., Liu, L., Jiang, X., Zheng, J. (2018). Adaptive Nonsmooth Attitude Tracking Control of Quadrotor UAV with Dynamic Uncertainties. In: Pan, JS., Wu, TY., Zhao, Y., Jain, L. (eds) Advances in Smart Vehicular Technology, Transportation, Communication and Applications. VTCA 2017. Smart Innovation, Systems and Technologies, vol 86. Springer, Cham. https://doi.org/10.1007/978-3-319-70730-3_17
Download citation
DOI: https://doi.org/10.1007/978-3-319-70730-3_17
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-70729-7
Online ISBN: 978-3-319-70730-3
eBook Packages: EngineeringEngineering (R0)