Geometric Adaptive Tracking Control of a Quadrotor UAV on SE(3) for Agile Maneuvers

摘要

This paper presents nonlinear tracking control systems for a quadrotorunmanned aerial vehicle under the influence of uncertainties. Assuming thatthere exist unstructured disturbances in the translational dynamics and theattitude dynamics, a geometric nonlinear adaptive controller is developeddirectly on the special Euclidean group. In particular, a new form of anadaptive control term is proposed to guarantee stability while compensating theeffects of uncertainties in quadrotor dynamics. A rigorous mathematicalstability proof is given. The desirable features are illustrated by numericalexample and experimental results of aggressive maneuvers.