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Modified Adaptive Nonsmooth Attitude Tracking Control of Quadrotor UAV with Dynamic Uncertainties

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Advances in Smart Vehicular Technology, Transportation, Communication and Applications (VTCA 2018)

Part of the book series: Smart Innovation, Systems and Technologies ((SIST,volume 128))

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Abstract

This paper addresses a new attitude controller of quadrotor UAV in the presence of parameters uncertainty and bounded external disturbances. Based on the attitude dynamic model considering parameters uncertainty and bounded external disturbances. Applying backstepping approach, an adaptive nonsmooth attitude controller is developed by integrating nonsmooth control and adaptive control techniques. And the design procedure and stability analysis of the closed-loop system is detailed. Finally, via some simulation results and comparisons, the effectiveness and advantages of the proposed method are illustrated.

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Acknowledgements

The authors would like to thank the anonymous reviewers for their valuable comments. This work was supported in part by Initial Scientific Research Fund in FJUT under Grant GY-Z13101, in part by the Natural Science Foundation of Fujian Province under Grant 2018J01640, and in part by the Education and research projects for young teachers in Fujian Provincial Education Department under Grant JAT170369. and in part by the Technology Development Base of Fujian Industrial Integration Automation Industries.

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Authors and Affiliations

  1. Technical Development Base of Industrial Integration Automation of Fujian Province, Fujian University of Technology, Fuzhou, 350118, China

    Dongwei He, Lisang Liu, Jing Huang & Jianxing Li

  2. National Demonstration Center for Experimental Electronic Information and Electrical Technology Education, Fujian University of Technology, Fuzhou, 350118, China

    Dongwei He, Lisang Liu, Jing Huang & Jianxing Li

  3. Department of Information Management Engineering, Fujian Business University, Fuzhou, 350012, China

    Pei Gao

  4. Department of Electronics Engineering, Minjiang University, Fuzhou, 350118, China

    Xuecheng Jiang

Authors
  1. Dongwei He
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  2. Pei Gao
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  3. Lisang Liu
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  4. Jing Huang
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  5. Jianxing Li
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  6. Xuecheng Jiang
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Corresponding author

Correspondence to Dongwei He .

Editor information

Editors and Affiliations

  1. College of Physics and Energy, Fujian Normal University, Fuzhou, Fujian, China

    Yong Zhao

  2. College of Information Science and Engineering, Fujian University of Technology, Fuzhou, Fujian, China

    Tsu-Yang Wu

  3. School of Transportation, Fujian University of Technology, Fuzhou, Fujian, China

    Tang-Hsien Chang

  4. College of Information Science and Engineering, Fujian University of Technology, Fuzhou, Fujian, China

    Jeng-Shyang Pan

  5. University of Technology Sydney, Sydney, NSW, Australia

    Lakhmi C. Jain

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He, D., Gao, P., Liu, L., Huang, J., Li, J., Jiang, X. (2019). Modified Adaptive Nonsmooth Attitude Tracking Control of Quadrotor UAV with Dynamic Uncertainties. In: Zhao, Y., Wu, TY., Chang, TH., Pan, JS., Jain, L. (eds) Advances in Smart Vehicular Technology, Transportation, Communication and Applications. VTCA 2018. Smart Innovation, Systems and Technologies, vol 128. Springer, Cham. https://doi.org/10.1007/978-3-030-04585-2_1

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