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

作者：Zhao, Bo^*; Xian, Bin; Zhang, Yao; Zhang, Xu

来源：IEEE Transactions on Industrial Electronics, 2015, 62(5): 2891-2902.

DOI：10.1109/TIE.2014.2364982

• Adaptive control
• immersion and invariance (I&I)
• quadrotor
• robust control
• unmanned aerial vehicle (UAV)

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 LaSalle's invariance theorem. Real-time experiment results, which are performed on a hardware-in-the-loop simulation testbed, are presented to illustrate the performance of the proposed control scheme.

• 出版日期2015-5
• 单位天津大学