We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology cannot be directly applied. We introduce the necessary design modifications to stabilize the considered system with prescribed performance. The proposed control protocol does not use any information of dynamic model parameters or exogenous disturbances. Furthermore, the stability analysis guarantees that the tracking errors remain inside of designer-specified time-varying functions, achieving prescribed performance independent from the control gains' selection. Finally, simulation results verify the theoretical results.
@article{arxiv.2206.06275,
title = {Robust Trajectory Tracking for Underactuated Quadrotors with Prescribed Performance},
author = {Dženan Lapandić and Christos K. Verginis and Dimos V. Dimarogonas and Bo Wahlberg},
journal= {arXiv preprint arXiv:2206.06275},
year = {2022}
}
Comments
8 pages, 6 figures, to appear at 61st IEEE Conference on Decision and Control 2022