Geometric Adaptive Control for a Quadrotor UAV with Wind Disturbance Rejection
Geometric Adaptive Control for a Quadrotor UAV with Wind Disturbance Rejection
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DOI：
10.1109/cdc.2018.8619390
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发表时间：
2018-03
期刊：
影响因子：
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通讯作者：
Mahdis Bisheban;Taeyoung Lee
中科院分区：
文献类型：
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作者：
Mahdis Bisheban;Taeyoung Lee
本文提出了一种四旋翼无人机的几何自适应控制方案，其中未知的非结构化干扰的影响通过在线调整的多层神经网络来减轻。利用特殊欧几里得群上的Lyapunov稳定性理论对所提出的控制器的稳定性进行了分析，结果表明跟踪误差最终统一有界于一个可以任意删节的极限界。提出了风扰动对四旋翼飞行器动力学的数学模型，结果表明所提出的自适应控制器能够成功地抑制风扰动的影响。这些通过数值示例进行说明。
This paper presents a geometric adaptive control scheme for a quadrotor unmanned aerial vehicle, where the effects of unknown, unstructured disturbances are mitigated by a multilayer neural network that is adjusted online. The stability of the proposed controller is analyzed with Lyapunov stability theory on the special Euclidean group, and it is shown that the tracking errors are uniformly ultimately bounded with an ultimate bound that can be abridged arbitrarily. A mathematical model of wind disturbance on the quadrotor dynamics is presented, and it is shown that the proposed adaptive controller is capable of rejecting the effects of wind disturbances successfully. These are illustrated by numerical examples.