Trajectory Tracking Control for Quadrotor Robot Subject to Payload Variation and Wind Gust Disturbance

• Published in: Journal of intelligent & robotic systems Vol. 83; no. 2; pp. 315 - 333
• Main Authors: Wang, Chen, Song, Bifeng, Huang, Panfeng, Tang, Changhong
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.08.2016; Springer Nature B.V
• Subjects: Artificial Intelligence; Control; Control systems design; Controllers; Disturbances; Dynamical systems; Electrical Engineering; Engineering; Gusts; Kinematics; Mechanical Engineering; Mechatronics; Nonlinear control; Robot control; Robotics; Robust control; Rotorcraft; Sliding mode control; Subsystems; Three dimensional; Tracking; Tracking control; Trajectories; Quadrotor robot; Trajectory tracking; Sliding-mode control; Wind gust; Adaptive robust control
• ISSN: 0921-0296; 1573-0409
• DOI: 10.1007/s10846-016-0333-4

This work proposes a hierarchical nonlinear control scheme for quadrotor to track 3D trajectory subject to payload variation and fast time-varying wind gust disturbance. In terms of dynamics model, the 6 DOF dynamics model with parametric and nonparametric uncertainties is built up. Wind gust and propeller momentum drag model are implemented to quantify the wind impact (force and moment disturbances) on quadrotor. In terms of control design, adaptive robust controller is developed for dynamic subsystem to deal with moment disturbance and estimate the system parameters. Global sliding mode controller is implemented for kinematic subsystem to generate adequate desired attitude angles for tracking the planned 3D trajectory. Simulations and experiments under various conditions are carried out for verification, and the results indicate the effectiveness, adaptiveness and robustness of the control strategy.