Direct Adaptive Tracking Control of Quadrotor Aerial Vehicles-Reference-Cited by-同舟云学术

Direct Adaptive Tracking Control of Quadrotor Aerial Vehicles

Published:2006-01-01 Issue: Volume: Page:
ISSN:
Container-title:Dynamic Systems and Control, Parts A and B
language:
Short-container-title:

Author:

Morel Yannick¹,Leonessa Alexander¹

Affiliation:

1. University of Central Florida

Abstract

This paper presents a novel adaptive control algorithm solving the trajectory tracking problem for quadrotor aerial vehicles. A model reference approach is used, such that the vehicle tracks the trajectory of a reference system, which itself tracks a specified desired trajectory. The control law is derived using a backstepping procedure. A technique derived from dynamic surface control is used to simplify the expression of the obtained control algorithm, with no significant loss in terms of performance. Proof of stability is obtained using Lyapunov theory. Results from numerical simulations illustrate the performance of the obtained controller.

Publisher

ASMEDC

Link

http://asmedigitalcollection.asme.org/IMECE/proceedings-pdf/doi/10.1115/IMECE2006-15516/4575588/155_1.pdf

Reference14 articles.

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2. Bouadballah, S., Noth, A., and Siegwart, R., 2004. “PID vs LQ control techniques applied to an indoor micro quadrotor”. In Proc. 2004 IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2451–2456.

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4. Bouadballah, S., and Siegwart, R., 2005. “Backstepping and sliding-mode techniques applied to an indoor micro quadrotor”. In Proc. 2005 IEEE Int. Conf. on Robotics and Automation, pp. 2247–2252.

5. Altug, E., Ostrowski, J. P., and Mahony, R., 2002. “Control of a quadrotor helicopter using visual feedback”. In Proc. 2002 IEEE Int. Conf. on Robotics and Automation, pp. 72–77.

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