Adaptive dynamic control of a quadrotor for trajectory tracking

摘要

This work presents an adaptive trajectory tracking controller for an unmanned aerial vehicle (UAV) which combines a feedback linearization controller based on a nominal model of a quadrotor and a Neuro Adaptive Compensation (NAC). The NAC is introduced in order to minimize the control errors caused by uncertainties in the nominal parameters. The uncertain parameters of the nominal model are balanced by a Neuro Adaptive Compensator. The proposed adaptive control scheme is robust and efficient to achieve a good trajectory following performance for outdoor and indoor applications. The analysis of the neural approximation error on the control errors is included. Finally, the effectiveness of the control system is proved through numerical simulation.