Adaptive trajectory tracking for quadrotor MAVs in presence of parameter uncertainties and external disturbances - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2013

Adaptive trajectory tracking for quadrotor MAVs in presence of parameter uncertainties and external disturbances

Abstract

The paper presents an adaptive trajectory track- ing control strategy for quadrotor Micro Aerial Vehicles. The proposed approach, while keeping the typical assumption of an orientation dynamics faster than the translational one, removes that of absence of external disturbances and of perfect symmetry of the vehicle. In particular, the trajectory tracking control law is made adaptive with respect to the presence of external forces and moments, and to the uncertainty of dynamic parameters as the position of the center of mass of the vehicle. A stability analysis as well as numerical simulations are provided to support the control design.
Fichier principal
Vignette du fichier
AACR_aim2013final.pdf (354.73 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-00910776 , version 1 (10-12-2013)

Identifiers

  • HAL Id : hal-00910776 , version 1

Cite

Gianluca Antonelli, Filippo Arrichiello, Stefano Chiaverini, Paolo Robuffo Giordano. Adaptive trajectory tracking for quadrotor MAVs in presence of parameter uncertainties and external disturbances. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2013, Wollongong, Australia. pp.1337-1342. ⟨hal-00910776⟩
222 View
381 Download

Share

Gmail Facebook X LinkedIn More