Quadrotor-tracking controller design using adaptive dynamic feedback-linearization method

Design of an adaptive dynamic feedback-linearization control law for a quadrotor unmanned aerial vehicle under uncertain parameters is presented. Because the quadrotor carries rotational speed-varying thrusters, it has the advantage of simple mechanism compared to the pitch-varying thrusters. However, it is subjected to slow dynamics in thruster and suffers from uncertainties in efficiency due to power subsystem. Additionally, parametric uncertainties tend to exist such as thruster misalignment, mass, and inertia. The control law is targeted to tracking reference trajectories under such uncertainties. Dynamic feedback-linearization method is employed primarily to produce the small-bandwidth thruster signal. A dynamic observer is used to estimate the states of feedback-linearized system, and Lyapunov-based update laws are derived to compensate for uncertain parameters. The controller and its performance are evaluated using a nonlinear, six-degree-of-freedom dynamic model of a quadrotor unmanned aerial vehicle with a thruster model in the simulation. The results illustrate that the proposed control law enhances tracking performance even with slow and misaligned thruster.

• Record URL:
  • https://doi.org/10.1177/0954410013516251
• Record URL:
  • http://pig.sagepub.com/cgi/content/abstract/228/12/2329
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/19966973
• Supplemental Notes:
  • Reprinted by permission of Sage Publications, Ltd.
• Authors:
  • Choi, I H
  • Bang, H C
• Publication Date: 2014-10

Language

• English

Media Info

• Media Type: Digital/other
• Features: Appendices; Figures; References; Tables;
• Pagination: pp 2329-2342
• Serial:
  • Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
  • Volume: 228
  • Issue Number: 12
  • Publisher: Sage Publications, Incorporated
  • ISSN: 0954-4100
  • EISSN: 2041-3025
  • Serial URL: http://pig.sagepub.com/

Subject/Index Terms

• TRT Terms: Adaptive control; Automatic controllers; Drones; Equipment design; Feedback control; Thrusters
• Uncontrolled Terms: Quadrotor helicopters
• Subject Areas: Aviation; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01542646
• Record Type: Publication
• Files: TRIS
• Created Date: Oct 29 2014 11:38AM