Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances

Gianluca Antonelli (1) , Elisabetta Cataldi (1) , Filippo Arrichiello (1) , Paolo Robuffo Giordano (2) , Stefano Chiaverini (1) , Antonio Franchi (3)

1 University of Cassino and Southern Lazio [Cassino]
2 RAINBOW - Sensor-based and interactive robotics
3 LAAS-RIS - Équipe Robotique et InteractionS

The paper presents an adaptive trajectory tracking control strategy for quadrotor Micro Aerial Vehicles (MAVs). The proposed approach, while maintaining the common assumption of an orientation dynamics faster than the translational one, removes the assumption of absence of external disturbances and of Geometric Center coincident with the Center of Mass. In particular, the trajectory tracking control law is made adaptive with respect to the presence of external forces and moments (e.g., due to wind) and to the uncertainty of parameters of the dynamic model, such as the position of the center of mass. A stability analysis is presented to analytically support the proposed controller, while numerical simulations are provided in order to validate its performance.

Domaines: Robotique [cs.RO]

Gianluca Antonelli, Elisabetta Cataldi, Filippo Arrichiello, Paolo Robuffo Giordano, Stefano Chiaverini, et al.. Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances. IEEE Transactions on Control Systems Technology, 2018, 26 (1), pp.248-254. ⟨10.1109/TCST.2017.2650679⟩. ⟨hal-01483653⟩