Geometric L1 Adaptive Attitude Control for a Quadrotor UAV

摘要: In this paper, we study the quadrotor UAV attitude control on SO(3) in presence of unknown disturbances and model uncertainties. L1 adaptive for UAVs using Euler angles/quaternions is shown to exhibit robustness precise tracking However, it well known that dynamical models controllers use angle representations are prone singularities typically have smaller regions attraction while quaternion subject unwinding phenomenon. To avoid such complexities, present a Geometric adaptation law estimate A reference approach implemented, with errors between defined manifold. Control laws developed directly track desired trajectory rejecting Lyapunov function based analysis used show exponential input-to-state stability errors. The proposed controller validated numerical simulations. Preliminary experimental results comparing geometric PD controller. Experimental validation carried out an Autel X-star quadrotor.