Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances

Gianluca Antonelli 1 Elisabetta Cataldi 1 Filippo Arrichiello 1 Paolo Robuffo Giordano 2 Stefano Chiaverini 1 Antonio Franchi 3
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
3 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : The paper presents an adaptive trajectory tracking control strategy for quadrotor Micro Aerial Vehicles (MAVs). The proposed approach, while maintaining the common assumption of an orientation dynamics faster than the translational one, removes the assumption of absence of external disturbances and of Geometric Center coincident with the Center of Mass. In particular, the trajectory tracking control law is made adaptive with respect to the presence of external forces and moments (e.g., due to wind) and to the uncertainty of parameters of the dynamic model, such as the position of the center of mass. A stability analysis is presented to analytically support the proposed controller, while numerical simulations are provided in order to validate its performance.
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IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2018, 26 (1), pp.248-254. 〈10.1109/TCST.2017.2650679〉
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Gianluca Antonelli, Elisabetta Cataldi, Filippo Arrichiello, Paolo Robuffo Giordano, Stefano Chiaverini, et al.. Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2018, 26 (1), pp.248-254. 〈10.1109/TCST.2017.2650679〉. 〈hal-01483653〉

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