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Mathematics > Optimization and Control

Title: Geometric Adaptive Control for a Quadrotor UAV with Wind Disturbance Rejection

Abstract: This paper presents a geometric adaptive control scheme for a quadrotor unmanned aerial, where the effects of unknown, unstructured disturbances are mitigated by a multilayer neural network that is adjusted online. The stability of the proposed controller is analyzed with Lyapunov stability theory on the special Euclidean group, and it is shown that the tracking errors are uniformly ultimately bounded with an ultimate bound that can be abridged arbitrarily. A mathematical model of wind disturbance on the quadrotor dynamics is presented, and it is shown that the proposed adaptive controller is capable of mitigating the effects of wind disturbances successfully.
Subjects: Optimization and Control (math.OC)
Cite as: arXiv:1803.06363 [math.OC]
  (or arXiv:1803.06363v1 [math.OC] for this version)

Submission history

From: Mahdis Bisheban [view email]
[v1] Fri, 16 Mar 2018 18:24:21 GMT (70kb)