Robust Tracking Control of a Quadrotor with Time-Varying Gain in the Presence of Uncertainty and Disturbances

摘要

A robust attitude tracking controller with time-varying adaptive compensation gain that can achieve asymptotic tracking of a quadrotor in the presence unknown nonlinear model uncertainty, and non-vanishing disturbances is presented. One of the challenges with the control design is that the nonlinear and state-varying input matrix contains parametric uncertainty. An integral sliding mode control technique with time varying gain is proposed to compensate for the uncertainty and non-vanishing disturbances. The proposed control structure is designed to be practically implementable, requiring no online adaptation or observers. Lyapunov-based stability analysis provides the theoretical results, and Monte Carlo simulations are provided to show the performance of the proposed control structure.