Abstract
This paper deals with tracking control problem for six degrees of freedom (6-DOF) nonlinear quadrotor unmanned aerial vehicle (UAV). A virtual control design using PD controller is proposed for tracking control position. The rotational dynamics of UAV is considered to have several unknown parameters such as propeller inertia, rotational drag coefficient and an external disturbance parameter. To handle this issue, an adaptive scheme using the certainty equivalence principle is developed. The basic idea behind this scheme is to cancel the nonlinear term by applying a similar nonlinear structure in the feedback control design. The unknown parameters are replaced by estimated parameters generated by adaptation law. The rigorous theoretical design and simulation results are presented to demonstrate the effectiveness of the controller.
| Original language | English |
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| Title of host publication | 2020 International Conference Nonlinearity, Information and Robotics, NIR 2020 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Electronic) | 9781728187631 |
| DOIs | |
| State | Published - 3 Dec 2020 |
| Externally published | Yes |
| Event | 2020 International Conference Nonlinearity, Information and Robotics, NIR 2020 - Innopolis, Russian Federation Duration: 3 Dec 2020 → 6 Dec 2020 |
Publication series
| Name | 2020 International Conference Nonlinearity, Information and Robotics, NIR 2020 |
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Conference
| Conference | 2020 International Conference Nonlinearity, Information and Robotics, NIR 2020 |
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| Country/Territory | Russian Federation |
| City | Innopolis |
| Period | 3/12/20 → 6/12/20 |
Bibliographical note
Publisher Copyright:© 2020 IEEE.
Keywords
- 6-DOF
- Immersion invariance
- adaptive control
- certainty equivalence principle
- unmanned aerial vehicle
ASJC Scopus subject areas
- Artificial Intelligence
- Control and Optimization
- Numerical Analysis