Adaptive Control for Quadrotor Trajectory Tracking with Accurate Parametrization

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    Abstract

    In this paper, a novel adaptive controller for quadrotor position and orientation trajectory tracking is introduced. By taking into account the coupling between the position and the orientation dynamics, an adaptive scheme based on an accurate parameterization of the model-based feedforward compensation is presented. The adaptation update laws for the adaptation parameters are designed on Lyapunov's theory so that the stability of the state space origin of the error dynamics is guaranteed. Barbalat's lemma ensures convergence of the tracking errors and bounding of the adaptation parameters. The extensive real-Time experimental results show the practical viability of the proposed scheme. More specifically, the performance of the proposed controller is compared with an adaptive controller taken from the literature and the non-Adaptive version of the proposed controller. Better results are obtained with the novel adaptive approach.

    Original languageEnglish
    Article number8695726
    Pages (from-to)53236-53247
    Number of pages12
    JournalIEEE Access
    Volume7
    DOIs
    StatePublished - 1 Jan 2019

    Keywords

    • accurate parameterization
    • Adaptive control
    • Lyapunov-Theory
    • quadrotor

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