Adaptive Dynamic Inversion Controller for Quad Rotor Aerial Robot

摘要

This paper presents an adaptive dynamic inversion controller for trajectory tracking of quad rotor aerial robot with X type configuration. In order to enhance the robustness of dynamic inversion controller, an adaptive dynamic variable vector is used to compensate the model inversion error and achieve the asymptotic stability. On the base of a nonlinear dynamic model of the quad rotor, adaptive dynamic inversion nonlinear controller is synthesized for the pur- pose of stabilization and trajectory tracking. The proposed control method can compensate the deviation of model inac- curacy. It behaves perfectly at the reference altitude and trajectory track in MATLAB simulation.