An Adaptive Robust Attitude Tracking Control of Quadrotor UAV with the Modified Rodrigues Parameter
نویسندگان
چکیده
In this paper, a novel adaptive attitude tracking control method is investigated to enhance performance and robustness for quadrotor unmanned aerial vehicle (UAV) against the modeling uncertainties external disturbances. First, dynamics of UAV based on modified Rodrigues parameter (MRP) derived. Then, an dynamic surface technique with robust integral sign error (RISE) approach are designed improve system suffering from A prescribed function employed by restraining errors range. The stability analysis proves presented scheme can guarantee all close-loop signals bounded uniformly ultimately bounded. Simulation results carried out demonstrate superior effective method.
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ژورنال
عنوان ژورنال: Measurement & Control
سال: 2022
ISSN: ['2051-8730', '0020-2940']
DOI: https://doi.org/10.1177/00202940221100543