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Trajectory Tracking Control for Quadrotor Robot Subject to Payload Variation and Wind Gust Disturbance

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Abstract

This work proposes a hierarchical nonlinear control scheme for quadrotor to track 3D trajectory subject to payload variation and fast time-varying wind gust disturbance. In terms of dynamics model, the 6 DOF dynamics model with parametric and nonparametric uncertainties is built up. Wind gust and propeller momentum drag model are implemented to quantify the wind impact (force and moment disturbances) on quadrotor. In terms of control design, adaptive robust controller is developed for dynamic subsystem to deal with moment disturbance and estimate the system parameters. Global sliding mode controller is implemented for kinematic subsystem to generate adequate desired attitude angles for tracking the planned 3D trajectory. Simulations and experiments under various conditions are carried out for verification, and the results indicate the effectiveness, adaptiveness and robustness of the control strategy.

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Authors and Affiliations

  1. School of Aeronautics, Northwestern Polytechnical University, Xi’an, 710072, China

    Chen Wang & Bifeng Song

  2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi’an, 710072, China

    Panfeng Huang

  3. AVIC, the First Aircraft Institute, Xi’an, China

    Changhong Tang

Authors
  1. Chen Wang
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  2. Bifeng Song
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  3. Panfeng Huang
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  4. Changhong Tang
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Correspondence to Chen Wang.

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Wang, C., Song, B., Huang, P. et al. Trajectory Tracking Control for Quadrotor Robot Subject to Payload Variation and Wind Gust Disturbance. J Intell Robot Syst 83, 315–333 (2016). https://doi.org/10.1007/s10846-016-0333-4

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  • DOI: https://doi.org/10.1007/s10846-016-0333-4

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