Quaternion-based robust trajectory tracking control for uncertain quadrotors

This paper presents a robust nonlinear controller design approach for uncertain quadrotors to implement trajectory tracking missions. The quaternion representation is applied to describe the rotational dynamics in order to avoid the singularity problem existing in the Euler angle representation. A n...

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Bibliographic Details
Published inScience China. Information sciences Vol. 59; no. 12; p. 122902
Main Authors He, Tianpeng, Liu, Hao, Li, Shu
Format Journal Article
LanguageEnglish
Published Beijing Science China Press 01.12.2016
Springer Nature B.V
Subjects
Attitude control
Closed loops
Computer Science
Control systems design
Euler angles
Feedback control
Information Systems and Communication Service
Nonlinear control
Nonlinearity
Parameter uncertainty
Quaternions
Representations
Research Paper
Robust control
Rotary wing aircraft
Space missions
Tracking control
Trajectory control
quadrotor
robust control
quaternion
trajectory tracking
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Summary:This paper presents a robust nonlinear controller design approach for uncertain quadrotors to implement trajectory tracking missions. The quaternion representation is applied to describe the rotational dynamics in order to avoid the singularity problem existing in the Euler angle representation. A nonlinear robust controller is proposed, which consists of an attitude controller to stabilize the rotational motions and a position controller to control translational motions. The quadrotor dynamics involves uncertainties such as parameter uncertainties, nonlinearities, and external disturbances and their effects on closed-loop control system can be guaranteed to be restrained. Simulation results on the quadrotor demonstrate the effectiveness of the designed control approach.
ISSN:1674-733X
1869-1919
DOI:10.1007/s11432-016-0582-y