Trajectory Tracking Outer Loop Regressor-Based Adaptive Controller for a Quadrotor
Source abstract
Abstract
A high-level control strategy for a quad rotorcraft Unmanned Aircraft System to perform trajectory tracking tasks is presented, which is based on a regressor-based adaptive approach. The high-level control is designed to interact with a low-level (internal) control loop that cannot be modified to suit the needs of academic researchers. Hence, the proposed control framework computes the appropriate high-level inputs for the inner controller, enabling the trajectory tracking task. The controller includes an integral action to overcome steady-state errors that may occur due to parameter estimation errors or constant disturbances. The stability of the equilibrium point is analyzed using Lyapunov theory, which shows that the tracking errors converge to zero and the parameter estimation errors remain bounded. The proposed control framework was tested on a real-time quad rotorcraft platform, and its performance was compared with four different control strategies. The results indicate that the proposed controller exhibits high accuracy and has better performance with respect to the other controllers.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Adaptive Control of Nonlinear Systems · Guidance and Control Systems · Aerospace and Aviation Technology
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Centro de Investigación y Desarollo de Tecnología Digital, Instituto Politécnico Nacional, Ave. Instituto Politécnico Nacional No. 1310, Tijuana 22435, Baja California, Mexico
Klipsch School of Electrical and Computer Engineering, New Mexico State University, Las Cruces, NM 88011, USA
División de Estudios de Posgrado e Investigación, TecNM/Instituto Tecnológico de la Laguna, Torreón 27000, Coahuila, Mexico
Funding
Consejo Nacional de Ciencia y Tecnología, CONACYT-Fondo Sectorial de Investigación para la Educación · Secretaría de Investigación y Posgrado-Instituto Politécnico Nacional, México · Fondo Sectorial de Investigación para la Educación
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