By Topic

Nonlinear adaptive regulation control of a quadrotor unmanned aerial vehicle

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

6 Author(s)
Wei Zeng ; Tianjin Key Lab. of Process Meas. & Control, Tianjin Univ., Tianjin, China ; Bin Xian ; Chen Diao ; Qiang Yin
more authors

In this paper, a nonlinear adaptive regulation controller is presented for a class of underactuated quadrotor unmanned aerial vehicle (UAV). The vehicle's dynamics is subject to modeling impression associated with the inertia matrix, aerodynamic damping coefficients, and some other system parameters. The on-line parameter estimation scheme is combined with feedback control to develop the adaptive control laws. Lyapunov based approaches are utilized to prove that the quadrotor UAV's position and yaw angle regulation errors are ultimately driven to zero under parametric uncertainties. Simulation results are included to demonstrate the performance of the control strategy.

Published in:

Control Applications (CCA), 2011 IEEE International Conference on

Date of Conference:

28-30 Sept. 2011