Nonlinear Robust Adaptive Tracking Control of a Quadrotor UAV Via Immersion and Invariance Methodology
Nonlinear Robust Adaptive Tracking Control of a Quadrotor UAV Via Immersion and Invariance Methodology
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DOI：
10.1109/tie.2014.2364982
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发表时间：
2015-05
影响因子：
7.7
通讯作者：
Bo Zhao;B. Xian;Yao Zhang;Xu Zhang
中科院分区：
文献类型：
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作者：
Bo Zhao;B. Xian;Yao Zhang;Xu Zhang
针对欠驱动四旋翼无人机，提出了一种新的渐近跟踪控制器，该控制器采用鲁棒误差符号积分（RISE）方法和基于浸入和不变性（I&I）的自适应控制方法。将控制系统解耦为两个部分：姿态控制内环和位置控制外环。内环采用RISE方法进行干扰抑制，外环采用I&I方法进行参数不确定性补偿。通过基于李雅普诺夫的稳定性分析和拉萨尔不变性定理证明了时变三维位置和偏航运动参考轨迹的渐近跟踪。在半实物仿真实验平台上进行的实时实验结果验证了该控制方案的有效性。
This paper presents a novel asymptotic tracking controller for an underactuated quadrotor unmanned aerial vehicle using the robust integral of the signum of the error (RISE) method and an immersion and invariance (I&I)-based adaptive control methodology. The control system is decoupled into two parts: the inner loop for attitude control and the outer loop for position control. The RISE approach is applied in the inner loop for disturbance rejection, whereas the I&I approach is chosen for the outer loop to compensate for the parametric uncertainties. The asymptotic tracking of the time-varying 3-D position and the yaw motion reference trajectories is proven via the Lyapunov-based stability analysis and LaSalle's invariance theorem. Real-time experiment results, which are performed on a hardware-in-the-loop simulation testbed, are presented to illustrate the performance of the proposed control scheme.