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    Trajectory tracking of under-actuated quadcopter using Lyapunov-based optimum adaptive controller

    Trajectory tracking of under-actuated quadcopter using Lyapunov-based optimum adaptive controller


    In this article, optimum adaptive sliding mode controller (ASMC) optimized by particle swarm optimization (PSO) algorithm is designed to solve the trajectory tracking control problems of a quadcopter with model parameter uncertainties. Quadcopters have nonlinear, multi-input multi-output, coupled and under-actuated dynamics. For comparison with the designed controller, an adaptive integral backstepping controller approach is applied to compensate mass and inertia uncertainties of the flying robot. These methods guarantee stability of closed-loop system and force the states to track desired reference signals. The performance of both controllers is evaluated by numerical simulations. The obtained results demonstrate the better effectiveness of the designed PSO ASMC in stabilization of tracking particularly with parameter uncertainties.

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    Titel :

    Trajectory tracking of under-actuated quadcopter using Lyapunov-based optimum adaptive controller

    Beteiligte:
    Navabi, M (Autor:in) / Davoodi, Ali (Autor:in) / Mirzaei, Hamidreza (Autor:in)
    Erschienen in:

    Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering ; 236 , 1 ; 202-215

    Erscheinungsdatum :

    2022-01-01

    Format / Umfang :

    14 pages

    ISSN :

    0954-4100 , 2041-3025

    DOI :

    https://doi.org/10.1177/09544100211010852

    Medientyp :

    Aufsatz (Zeitschrift)

    Format :

    Elektronische Ressource

    Sprache :

    Englisch

    Schlagwörter :

    waypoints , Quadcopter , particle swarm optimization adaptive sliding mode control , helical trajectory tracking , adaptive control , adaptive integral backstepping control

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