Position tracking of an underactuated quadrotor using model reference adaptive control

Alia Abdul Ghaffar, Tom Richardson

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

Abstract

A model reference adaptive control is used to design a position tracking controller of a quadrotor in order to compensate for uncertainties that arises from modelling errors. Since the position dynamic of the quadrotor is a non-actuated subsystem, a virtual actuator input to this subsystem is estimated using a radial basis function network. The inclusion of an adaptive element in the tracking controller enhances the tracking performance and enables the user to specify the desired performance characteristics. It is shown in simulation that the adaptive controller gives a stable trajectory tracking and is capable of regaining the specified response characteristics in the presence of a disturbance and degradation in actuator performance.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc. (AIAA)
ISBN (Print)9781624103896
Publication statusPublished - 1 Jan 2016
EventAIAA Guidance, Navigation, and Control Conference, 2016 - San Diego, United States
Duration: 4 Jan 20168 Jan 2016

Conference

ConferenceAIAA Guidance, Navigation, and Control Conference, 2016
CountryUnited States
CitySan Diego
Period4/01/168/01/16

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