A Robust Adaptive Nonlinear Control Design via Geometric Approach for a Quadrotor

Abstract

This paper addresses the design of an adaptive sliding mode controller via geometric approach for a quadrotor unmanned aerial vehicle (UAV), suffering from inertial parameter uncertainty and disturbances. For this aim, the quadrotor dynamics described on the special Euclidean group SE(3) is decomposed into two cascaded subsystems, where the backstepping controller is developed during the position subsystem to obtain the necessary thrust magnitude and the reference orientation for the attitude subsystem. Then we develop a robust controller for the attitude subsystem via an exponential reaching law using the gain adaptation approach which has the advantage of robustness to bounded uncertainties/perturbations with unknown bounds in which the exponential coordinates are employed to parameterize the rotation matrix that pertains to a natural parameterization about the neighborhood of the identity. And this neighborhood covers all of SO(3) except a zero measure set. Finally, the simulation results are given in order to show the performances and the effectiveness of the proposed method.

KEYWORDS:

• Quadrotor
• Adaptive sliding mode control
• Gain adaptation
• Lyapunov stability
• Geometric control

Additional information

Notes on contributors

Awatif Guendouzi

Awatif Guendouzi obtained her master’s in automatics and signal processing from Jijel University in 2010, and she is now working on her PhD in control and robotics at USTHB.

Mustapha Hamerlain

Mustapha Hamerlain is a computer science engineer who gained his PhD in robotics in 1993 from INSA-Toulouse (France). He is a researcher in the Robotics Department of the Advanced Technologies and Development Center (CDTA) of Algiers and a professor at the school (EMP). His current research interests include robust control of nonlinear systems, robot motion control, visual control, robot manipulators and pneumatic artificial muscle actuators. Email:[email protected]

Nadia Saadia

Nadia Saadia is a professor at USTHB at Algiers. She received her PhD degree in 1997 from robotics and control. Now, she is the director of research in LRPE at USTHB. Email: [email protected]