Submitting Campus
Daytona Beach
Department
Physical Sciences
Document Type
Article
Publication/Presentation Date
3-17-2023
Abstract/Description
This paper presents an adaptive robust nonlinear control method, which achieves reliable trajectory tracking control for a quadrotor unmanned aerial vehicle in the presence of gyroscopic effects, rotor dynamics, and external disturbances. Through novel mathematical manipulation in the error system development, the quadrotor dynamics are expressed in a control-oriented form, which explicitly incorporates the uncertainty in the gyroscopic term and control actuation term. An adaptive robust nonlinear control law is then designed to stabilize both the position and attitude loops of the quadrotor system. A rigorous Lyapunov-based analysis is utilized to prove asymptotic trajectory tracking, where the region of convergence can be made arbitrarily large through judicious control gain selection. Moreover, the stability analysis formally addresses gyroscopic effects and actuator uncertainty. To illustrate the performance of the control law, comparative numerical simulation results are provided, which demonstrate the improved closed-loop performance achieved under varying levels of parametric uncertainty and disturbance magnitudes.
Publication Title
Electrical Engineering and Systems Science
DOI
https://doi.org/10.48550/arXiv.2303.10270
Publisher
Cornell University
Scholarly Commons Citation
Ijoga, E. O., MacKunis, W., Kidambi, K. B., & Tiwari, M. (2023). Adaptive Modified RISE-based Quadrotor Trajectory Tracking with Actuator Uncertainty Compensation. Electrical Engineering and Systems Science, (). https://doi.org/10.48550/arXiv.2303.10270
