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Nonlinear adaptive control for quadrotor flying vehicle

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Abstract

In this work, we deal with autonomous tracking and disturbance rejection problem of quadrotor vehicle flying in uncertain environment. The vehicles kinematic and modeling error uncertainties are associated with external disturbance, inertia, mass, and nonlinear aerodynamic forces and moments. The proposed method integrate the techniques from adaptive control and robust control theory. Robust and adaptive control algorithms for translational and orientation tracking are derived using Lyapunov method. It is shown in our analysis that the altitude, position, and attitude tracking errors are bounded and their bounds asymptotically converge to zero in Lyapunov sense. Simulation results on a commercial quadrotor flying vehicle are given to demonstrate the effectiveness of theoretical arguments for real world application.

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Acknowledgments

Authors thank Editor-in-chief, associate editor and reviewers for their constructive comments and suggestion on our original submission that definitely improves the quality and presentation of this paper. This work is partially supported in part by Natural Sciences and Engineering Research Council of Canada (NSERC).

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Authors and Affiliations

  1. School of Information Technogy and Engineering (SITE), University of Ottawa, 800 King Edward Road, Ottawa, ON , K1N 6N5, Canada

    S. Islam & A. El Saddik

  2. School of Engineering and Applied Sciences (SEAS), Harvard University, 29 Oxford Street, Cambridge, MA , 02138, USA

    S. Islam

  3. Department of Systems and Computer Engineering, Carleton University, Ottawa, ON , K1S 5B6, Canada

    P. X. Liu

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  1. S. Islam
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  2. P. X. Liu
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  3. A. El Saddik
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Correspondence to S. Islam.

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Islam, S., Liu, P.X. & El Saddik, A. Nonlinear adaptive control for quadrotor flying vehicle. Nonlinear Dyn 78, 117–133 (2014). https://doi.org/10.1007/s11071-014-1425-y

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  • DOI: https://doi.org/10.1007/s11071-014-1425-y

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