Robust Trajectory Tracking for Underactuated Quadrotors with Prescribed Performance

被引：2

作者：

Lapandic, Dzenan ^{[1
]}

Vergins, Christos K. ^{[2
]}

Dimaroganas, Dimos V. ^{[1
]}

Wahlberg, Bo ^{[1
]}

机构：

[1] KTH Royal Inst Technol, Div Decis & Control Syst, Stockholm, Sweden

[2] Uppsala Univ, Div Signals & Syst, Dept Elect Engn, Uppsala, Sweden

来源：

2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC) | 2022年

基金：

瑞典研究理事会;

关键词：

MPC;

D O I：

10.1109/CDC51059.2022.9992897

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology cannot be directly applied. We introduce the necessary design modifications to stabilize the considered system with prescribed performance. The proposed control protocol does not use any information of dynamic model parameters or exogenous disturbances. Furthermore, the stability analysis guarantees that the tracking errors remain inside of designer-specified time-varying functions, achieving prescribed performance independent from the control gains' selection. Finally, simulation results verify the theoretical results.

引用

页码：3351 / 3358

页数：8

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