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Adaptive trajectory tracking for quadrotor MAVs in presence of parameter uncertainties and external disturbances

Gianluca Antonelli 1 Filippo Arrichiello 1 Stefano Chiaverini 1 Paolo Robuffo Giordano 2
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : The paper presents an adaptive trajectory track- ing control strategy for quadrotor Micro Aerial Vehicles. The proposed approach, while keeping the typical assumption of an orientation dynamics faster than the translational one, removes that of absence of external disturbances and of perfect symmetry of the vehicle. In particular, the trajectory tracking control law is made adaptive with respect to the presence of external forces and moments, and to the uncertainty of dynamic parameters as the position of the center of mass of the vehicle. A stability analysis as well as numerical simulations are provided to support the control design.
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Submitted on : Tuesday, December 10, 2013 - 4:35:48 PM
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Gianluca Antonelli, Filippo Arrichiello, Stefano Chiaverini, Paolo Robuffo Giordano. Adaptive trajectory tracking for quadrotor MAVs in presence of parameter uncertainties and external disturbances. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2013, Wollongong, Australia. pp.1337-1342. ⟨hal-00910776⟩

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