Rosales, Claudio Dario (University), Soria, Carlos (Universidad Nacional de San Juan), Carelli, Ricardo (Universidad Nacional De San Juan), Rossomando, Francisco (Instituto de Automática - Universidad Nacional de San Juan)

Adaptive Dynamic Control of a Quadrotor for Trajectory Tracking

Scheduled for presentation during the "Control Architecture - III" (WeC3), Wednesday, June 14, 2017, 17:40−18:00, Salon CD

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

This work presents an adaptive trajectory tracking controller for an unmanned aerial vehicle (UAV) which combines a feedback linearization controller based on a nominal model of a quadrotor and a Neuro Adaptive Compensation (NAC). The NAC is introduced in order to minimize the control errors caused by uncertainties in the nominal parameters. The uncertain parameters of the nominal model are balanced by a Neuro Adaptive Compensator. The proposed adaptive control scheme is robust and efficient to achieve a good trajectory following performance for outdoor and indoor applications. The analysis of the neural approximation error on the control errors is included. Finally, the effectiveness of the control system is proved through numerical simulation.