Geometric L1 Adaptive Attitude Control for Quadrotor UAV
Автор: Hybrid Robotics
Загружено: 2019-06-06
Просмотров: 1890
Описание:
We study the quadrotor UAV attitude control on the SO(3) manifold in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles / quaternions is shown to exhibit robustness and precise attitude tracking in the presence of disturbances and uncertainties. However, Euler angles are prone to singularities, have smaller regions of attraction. To avoid such complexities, we present a Geometric L1 adaptation control law to estimate the uncertainties. A model reference adaptive control approach is implemented, with the attitude errors between the quadrotor model and the reference model defined on the manifold.
Control laws for the quadrotor and reference models are developed directly on SO(3) to track the desired trajectory while rejecting the uncertainties. Experimental validation of the proposed controller is carried out on an Autel X-star quadrotor.
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