The DOI matches its Crossref record; 9 of the 9 references it cites were found in a registry or an index.
Nonlinear Robust Adaptive Tracking Control of a Quadrotor UAV Via Immersion and Invariance Methodology
Abstract
This paper presents a novel asymptotic tracking controller for an underactuated quadrotor unmanned aerial vehicle using the robust integral of the signum of the error (RISE) method and an immersion and invariance (I&I)-based adaptive control methodology. The control system is decoupled into two parts: the inner loop for attitude control and the outer loop for position control. The RISE approach is applied in the inner loop for disturbance rejection, whereas the I&I approach is chosen for the outer loop to compensate for the parametric uncertainties. The asymptotic tracking of the time-varying 3-D position and the yaw motion reference trajectories is proven via the Lyapunov-based stability analysis and LaSalle's invariance theorem. Real-time experiment results, which are performed on a hardware-in-the-loop simulation testbed, are presented to illustrate the performance of the proposed control scheme.
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Cites
Slotine, J.-J. E., & Li, W. (1991) · CERN Document Server (European Organization for Nuclear Research) · Cited by 18,975
Constructive Nonlinear Control
Sepulchre, R., Janković, M., & Kokotović, P. V. (1997) · Communications and Control Engineering · doi:10.1007/978-1-4471-0967-9 · Cited by 2,297
Immersion and invariance: a new tool for stabilization and adaptive control of nonlinear systems
Astolfi, A., & Ortega, R. (2003) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2003.809820 · Cited by 790
A Continuous Asymptotic Tracking Control Strategy for Uncertain Nonlinear Systems
Xian, B., Dawson, D. M., deQueiroz, M. S., & Chen, J. (2004) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2004.831148 · Cited by 651
Self-citationAdaptive Trajectory Control for Autonomous Helicopters
Johnson, E. N., & Kannan, S. K. (2005) · Journal of Guidance Control and Dynamics · doi:10.2514/1.6271 · Cited by 363
LaSalle-Yoshizawa Corollaries for Nonsmooth Systems
Fischer, N., Kamalapurkar, R., & Dixon, W. E. (2013) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2013.2246900 · Cited by 225
Immersion and invariance based command-filtered adaptive backstepping control of VTOL vehicles
Hu, J., & Zhang, H. (2013) · Automatica · doi:10.1016/j.automatica.2013.03.019 · Cited by 177
Robust Backstepping Control Based on Integral Sliding Modes for Tracking of Quadrotors
Ramirez-Rodriguez, H., Parra‐Vega, V., Sanchez, A., et al. (2013) · Journal of Intelligent & Robotic Systems · doi:10.1007/s10846-013-9909-4 · Cited by 142
Framework for Autonomous On-board Navigation with the AR.Drone
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Cited by
Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms
Du, H., Zhu, W., Wen, G., Duan, Z., & Lu, J. (2019) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2017.2777463 · Cited by 336
Fei, J., & Lu, C. (2018) · IEEE Transactions on Neural Networks and Learning Systems · doi:10.1109/tnnls.2017.2672998 · Cited by 258
Target tracking control of UAV through deep reinforcement learning
Ma, B., Liu, Z., Zhao, W., Yuan, J., Long, H., Wang, X., & Yuan, Z. (2023) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2023.3249900 · Cited by 91
Liu, B., Wang, Y., Mofid, O., Mobayen, S., & Khooban, M. H. (2024) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2023.3328801 · Cited by 44
Metadata
- Authors
- Zhao, B., Xian, B., Zhang, Y., & Zhang, X.
- Venue
- IEEE Transactions on Industrial Electronics
- Published
- 2015-05
- Volume
- 62
- Issue
- 5
- Pages
- 2891-2902
- ISSN
- 0278-0046 (ISSN-L)
- 1557-9948
- OpenAlex
- W1986045690
- Cited by
- 566
- References
- 9
- FWCI
- 29.40
- Type
- journal article
- Language
- en
- Open access
- closed
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- Zhao, B., Xian, B., Zhang, Y., & Zhang, X. (2015). Nonlinear Robust Adaptive Tracking Control of a Quadrotor UAV Via Immersion and Invariance Methodology. IEEE Transactions on Industrial Electronics. https://doi.org/10.1109/tie.2014.2364982
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