Adaptive Robust Control for Quadrotors with Unknown Time-Varying Delays and Uncertainties in Dynamics
Viswa Narayanan Sankaranarayanan, Sumeet Gajanan Satpute, George Nikolakopoulos
Abstract
This article proposes an adaptive controller for a quadrotor UAV for carrying unknown payloads while tracking any trajectory. The proposed adaptive controller is robust to modeling uncertainties and does not require any a priori knowledge of the bounds of the uncertainties. The controller is also robust to time-varying delays without any constraint on the derivative of the time delay. In addition, the stability of the closed-loop system is analyzed via a Lyapunov-like method. The controller’s performance is verified using a simulated quadrotor model in MATLAB in three different scenarios with varying time delays and parametric uncertainties.
Topics & Concepts
Control theory (sociology)Controller (irrigation)Computer scienceA priori and a posterioriParametric statisticsTrajectoryRobust controlMATLABAdaptive controlLyapunov functionStability (learning theory)Control engineeringConstraint (computer-aided design)Control (management)Control systemEngineeringMathematicsArtificial intelligenceNonlinear systemElectrical engineeringMechanical engineeringAstronomyAgronomyEpistemologyOperating systemBiologyMachine learningQuantum mechanicsPhysicsStatisticsPhilosophyAdaptive Control of Nonlinear SystemsStability and Control of Uncertain SystemsDistributed Control Multi-Agent Systems