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Tracking control of vertical taking‐off and landing vehicles with parametric uncertainty
Author(s) -
Dong Wenjie,
Dony Md NurAdam,
Rafat Mohammad
Publication year - 2020
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.3143
Subject(s) - control theory (sociology) , parametric statistics , nonlinear system , moment of inertia , torque , thrust , inertia , attitude control , cascade , controller (irrigation) , tracking (education) , position (finance) , engineering , computer science , control engineering , control (management) , mathematics , artificial intelligence , physics , aerospace engineering , pedagogy , biology , psychology , classical mechanics , quantum mechanics , agronomy , thermodynamics , statistics , finance , chemical engineering , economics
Summary This paper considers the position and attitude tracking control of a quadrotor with inertia parameter uncertainty. With the aid of the cascade structure of the dynamics of the system, an immersion and invariance observer is proposed to estimate the unknown mass of the system first. Secondly, a saturation controller is designed for the thrust force. Thirdly, a virtual controller is proposed for the angular velocity of the quadrotor with the aid of a nonlinear transform of the Euler angles. Finally, adaptive and robust controllers are proposed for the torque input of the quadrotor to deal with the unknown inertia moment of the system. Simulation results show the effectiveness of the proposed algorithms.