Trajectory tracking via adaptive nonlinear control approach for a quadrotor MAV

Abstract

This research describes an adaptive nonlinear trajectory tracking controller for a vertical take-off and landing flyer called quadrotor. The control objective is to stabilize the fast unstable dynamics of system while performing trajectory tracking maneuver in presence of external disturbances, measurement noises and uncertainty in model parameters. With an appropriate prediction and performing backstepping nonlinear control approach, the stability of flying robot assured during trajectory tracking maneuver, while tracking mission accomplished due to position and rate control. Adaptive backstepping technique utilizes to eliminate the effect of external disturbances, noise in measurements, and model uncertainties. Based on Lyapunov stability theory, adaptive control with tuning functions proposes an adaptation law, first to estimate unknown parameters of system and then developing a float construction system to annihilate the effect of wind disturbance. Simulation results achieved on a full nonlinear model, to simulate quadrotor trajectory tracking mission close to realistic conditions, and then verifies the effectiveness of designed controller.