Adaptive prescribed performance dynamic surface control for the uncertain QUAVs with unknown parameters

A new robust adaptive prescribed performance dynamic surface control (PPDSC) method is proposed for quadrotor unmanned aerial vehicle systems (QUAVs) with time variant payloads and unknown uncertainties caused by external wind disturbances in this paper. Furthermore, some parameters of the system are unknown, such as the rotary inertia. With proposed methods, the whole system is decoupled into two subsystems: position system and attitude system. Two subsystems are connected to each other by the attitude extraction algorithms. The adaptive PPDSC control and robust adaptive control methods are designed for position and attitude systems. Using Lyapunov function, it is proved that the tracking errors of uncertain QUAV are asymptotically stable in the sense of ultimately uniform boundedness. At the same time, the positional tracking errors can meet the prescribed performance. The effectiveness of proposed control methods is verified by simulation results in the end.