Adaptive trajectory tracking for quadrotor MAVs in presence of parameter uncertainties and external disturbances

G. Antonelli, F. Arrichiello, S. Chiaverini, P. Robuffo Giordano, Adaptive trajectory tracking for quadrotor MAVs in presence of parameter uncertainties and external disturbances, 2013 IEEE International Conference on Robotics and Automation, May 2013

Abstract: 
This paper addresses the adaptive trajectory tracking control for quadrotor Micro Aerial Vehicle. The proposed approach, while keeping the typical assumption of a faster orientation dynamics than the translational one, removes that of absence of external disturbance and perfect symmetry of the vehicle. In particular, the tracking control law is made adaptive with respect to the presence of external forces and moments, and to the uncertainty of the dynamic parameters, among which the center of mass position. A stability analysis as well as numerical simulations are provided to support the control design
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