Tracking Control of UAVs with Uncertainty and Input Constraints
Tracking Control of UAVs with Uncertainty and Input Constraints
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DOI：
10.23919/acc53348.2022.9867463
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发表时间：
2022-06
期刊：
影响因子：
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通讯作者：
Shihab Ahmed;Wenjie Dong
中科院分区：
文献类型：
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作者：
Shihab Ahmed;Wenjie Dong
本文考虑具有不确定性和输入约束的垂直起降无人机的位置和姿态跟踪控制问题。考虑到系统动力学中参数和非参数的不确定性，借助系统动力学的特殊结构，提出了一种鲁棒自适应跟踪控制器。考虑到不确定性和输入约束，借助辅助补偿系统提出了鲁棒自适应饱和控制器。仿真结果表明了所提算法的有效性。
This paper considers the position and attitude tracking control problem of a vertical take-off and landing unmanned aerial vehicle with uncertainty and input constraints. Considering the parametric and non-parametric uncertainties in the dynamics of systems, a robust adaptive tracking controller is proposed with the aid of the special structure of the dynamics of the system. Considering the uncertainty and input constraints, a robust adaptive saturation controller is proposed with the aid of an auxiliary compensated system. Simulation results show the effectiveness of the proposed algorithms.