High accuracy robust attitude tracking control application on quadrotor UAV with the prescribed performance

Abstract

In this paper, a high accuracy attitude tracking control is presented for a quadrotor unmanned aerial vehicle (UAV) under the model uncertainties and external unpredictable disturbances by using a robust feedback control method. First, the cascade attitude dynamics of a quadrotor UAV is derived with the lumped disturbances. Then, a backstepping adaptive modified robust integral of the sign of the error (RISE) control is designed to improve the robustness of the control system against the disturbances. For arriving high accuracy tracking under the disturbances, a prescribed performance control algorithm is employed in combination to hold the transient state performance where the convergence rate is faster than the prescribed value, and the maximum overshoot is less than the prescribed value. The stability analysis is carried out to prove that the presented controller could guarantee that the closed-loop system is asymptotically stable, and the tracking feedback errors can converge to an arbitrarily small value near zero. The superior performance of the proposed control method is illustrated in simulations against the nonlinear lumped disturbances, and the benefits of the proposed robust controller is corroborated by comparing with the existed controller.

Research on hovering control system of four rotor UAV in indoor environment

“…Assumption 4: quadrotor UAV is only pulled by gravity and propeller. Where gravity is in the positive direction along the ee ozaxis and propeller tension is in the negative direction along the ee oz axis.Assumption 5: The odd numbered propeller rotates counterclockwise, and the even numbered propeller rotates clockwise.1) Dynamic model:Based on assumption 4, the force analysis of the quadrotor UAV is carried out, and the position dynamics model11 of the quadrotor UAV is established in the earth coordinate system v  =  represents the velocity of the quadrotor UAV in the earth coordinate system represents the gravity acceleration, 3 e represents the unit vector, f represents the tension, m represents the mass of the quadrotor UAV, and R represents the rotation matrix.Based on assumptions 1~3, the attitude dynamics equation11 is established in the airframe coordinate system b b b b…”

“…represents the angular velocity of the aircraft body rotation in the aircraft body coordinate system.2) Kinematic model:Based on assumption 1, the position kinematics equation7 is established in the earth coordinate system represents the position of the quadrotor UAV in the earth coordinate system.Based on assumption 1, the attitude kinematics equation11 is established in the airframe coordinate system…”