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Trajectory Control of a Quadrotor Subject to 2D Wind Disturbances

Robust-Adaptive Approach

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Abstract

The paper addresses the flight control of a quad-rotor subject to two dimensional unknown static/varying wind disturbances. A model separation is proposed to simplify the control of the six-degrees-of-freedom (6DOF) nonlinear dynamics of the flying robot. Such approach allows to deal with quad-rotor’s 3D-motion via two subsystems: dynamic (altitude and MAV-relative forward velocity) and kinematic (nonholonomic-like navigation) subsystems. In terms of control, a hierarchical control is used as the overall control structure to stabilize the kinematic underactuaded subsystem. A control strategy based on sliding-mode and adaptive control techniques is proposed to deal with slow and fast time-varying wind conditions, respectively. This choice not only provides well tracking control but also improves the estimation of unknown disturbance. The backstepping technique is used to stabilize the inner-loop heading dynamics, such recursive design takes into account a constrained heading rate. Promising simulations results show the validity of the proposed control strategy while tracking a time-parameterized straight-line and sinusoidal trajectory.

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Authors and Affiliations

  1. Heudiasyc UMR 7253 CNRS, Université de Technologie de Compiegne, Centre de Recherche de Royalieu, 60200, Compiegne, France

    J. Escareño & R. Lozano

  2. Laboratoire Franco-Mexicain d’Informatique et Automatique (UMI 3175 CNRS), Cinvestav, Mexico City, Mexico

    S. Salazar

  3. Universidad Autonoma del Estado de Hidalgo, Pachuca, Hidalgo, Mexico

    H. Romero

Authors
  1. J. Escareño
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  2. S. Salazar
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  3. H. Romero
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  4. R. Lozano
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Correspondence to J. Escareño.

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Escareño, J., Salazar, S., Romero, H. et al. Trajectory Control of a Quadrotor Subject to 2D Wind Disturbances. J Intell Robot Syst 70, 51–63 (2013). https://doi.org/10.1007/s10846-012-9734-1

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  • DOI: https://doi.org/10.1007/s10846-012-9734-1

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