|Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances
|Year of Publication
|Antonelli, G, Cataldi, E, Arrichiello, F, Robuffo Giordano, P, Chiaverini, S, Franchi, A
|IEEE Trans. on Control Systems Technology
This paper presents an adaptive trajectory tracking control strategy for quadrotor Micro Aerial Vehicles (MAVs). The proposed approach, while maintaining the typical assumption of an orientation dynamics faster than the translational one, re- moves that 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 (due, e.g., to wind), and to the uncertainty of dynamic parameters such as the position of the center of mass of the vehicle. A stability analysis is provided to analytically support the proposed controller. Finally, numerical simulations and experimental evaluations, performed with a commercially-available quadrotor MAV, are provided in order to validate the performance of the proposed adaptive control strategy.