Two-Level Nonlinear Tracking Control of a Quadrotor Unmanned Aerial Vehicle

Adaptive Linear Quadratic Attitude Tracking Control of a Quadrotor UAV Based on IMU Sensor Data Fusion

“…A nonlinear dynamic model of quadrotor UAV motion dynamics is presented in [4]. In this paper, we have simplified and partitioned this nonlinear dynamic model to obtain separate linear models for each of attitude, yaw, and altitude dynamics.…”

“…Ignoring inertial and drag effects, we obtain a linearized attitude (roll/pitch) dynamics from the nonlinear dynamic model in [4]. Hence, we write the attitude model in the state-space form as truex˙φ(t)=Aφxφ(t)+Bφuφ(t),φ∈{ϑ,ϕ},φ(t)=Cφxφ(t), where Aφ=[]010002lKJφ00−b, Bφ=[]00b, Cφ=100T and xφ=[]φtrueφ˙...…”

“…We have linearized the nonlinear altitude model [4] by the use of small angle approximation and take the effect of gravity as an offset in the linearized model. Accordingly, we obtain the simplified linear altitude model as truep¨z=4Kmb(s+b)uz, where pz is z-position of Ob, uz is the altitude control input and m is the total mass of the quadrotor UAV system.…”

“…Unmanned aerial vehicle (UAV) systems, particularly quadrotor UAV systems, have been popular in various autonomous surveillance and transportation applications in recent years. Robotics and control researchers have been interested in improving quadrotor UAV systems with regard to path planning, tracking, stability and autonomous motion capability in simultaneous localization and mapping (SLAM) tasks for difficult missions such as defense patrol duties, agricultural activities, surveillance, and rescue [1,2,3,4,5,6].…”

“…As studied in earlier work [4], we consider the quadrotor UAV control structure in two levels: high-level and low-level. High-level is mainly about guidance and position controlling in the autonomous motion tasks and generating the trajectories to be tracked by the low-level controller.…”