Regressor-based adaptive control for trajectory tracking applied to a quadrotor
This document presents a regressor-based adaptive controller that works as an external loop controller for a quadrotor that already has an inaccessible inner loop controller. The proposed controller is conceived for trajectory tracking tasks and to operate without prior knowledge of the quadrotor pa...
| Autores: | , , |
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| Formato: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2022 |
| País: | México |
| Recursos: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/9191 |
| Acesso em linha: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/9191 |
| Access Level: | acceso abierto |
| Palavra-chave: | Adaptive control Lyapunov stability nonlinear control parameter uncertainty quadrotor Control adaptable estabilidad de Lyapunov control no lineal incertidumbre paramétrica |
| Resumo: | This document presents a regressor-based adaptive controller that works as an external loop controller for a quadrotor that already has an inaccessible inner loop controller. The proposed controller is conceived for trajectory tracking tasks and to operate without prior knowledge of the quadrotor parameters, as well as the internal controller. The stability of the state space origin is analyzed by means of the Lyapunov theory from which the parameter adaptation law is obtained, as well as the tuning rules, thus guaranteeing the functionality of the proposed controller. In addition, the results of the numerical simulations demonstrated the functionality of the proposed controller as well its robustness to parameter uncertainties . |
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