Adaptive Control With Unknown System Dynamics Estimator for Quadrotor Attitude Tracking

Abstract

This paper presents an adaptive control scheme via combining with an unknown system dynamics estimator (USDE) for attitude control of quadrotors subject to both parametric uncertainties and external disturbances. The presented controller is designed by effectively merging an adaptive control with an USDE via backstepping, where the extraneous uncertainties are addressed by USDE, and the adaptive law driven by tracking errors accounts for identifying unknown inertial moment constants. The unique characteristic is that a reinforced attitude controlling can be realized benefiting from the separate handling of parametric uncertainties and disturbances via an adaptive updating and a concise disturbance observation, significantly releasing the learning load of USDE and a high gain can be avoided in feedback loops. Meanwhile, Lyapunov analysis demonstrates that all error variables are uniformly ultimately bounded in the closed-loop system. Eventually, simulations substantiate the utility of suggested control strategy.

Direct synthesis approach to design PDμ${\text{PD}}^\mu$ based smith predictor for integrating plants: Studied on a quadrotor UAV

“…It takes reference from Kessler's optimal method, which takes robustness factors and desirable closed-loop characteristics into account. For quadrotor attitude control, an adaptive control law and an unknown dynamics estimator based on the backstepping technique were presented Zhang et al [28]. Both parametric uncertainties and outside perturbations were considered.…”

“…For quadrotor attitude control, an adaptive control law and an unknown dynamics estimator based on the backstepping technique were presented Zhang et al. [28]. Both parametric uncertainties and outside perturbations were considered.…”