Adaptive PD controller to solve the trajectory tracking of a quadrotor unmanned aerial vehicle

摘要: This paper describes the design of an adaptive output based controller to regulate the path tracking process of a quadrotor robot. This kind of robot represents a relevant system considering that it can be used to complete exploring, personal assistance, home professional medical care and surveillance tasks. The controller used a mixed structure based on adaptive proportional derivative controller to solve the trajectory tracking problem and the super-twisting algorithm as robust observer/differentiator to recover the robot velocity information. A nonsmooth Lyapunov function was proposed to prove the ultimate boundedness of the tracking error. The controller was implemented as a class of decentralized structure where each joint was fed with the corresponding reference trajectories. A set of reference trajectories was designed to propose a circular reference trajectory. A set of numerical simulations was implemented to evaluate the controller performance. These simulations showed the effectiveness of the proposed controller to track the reference trajectories.