Control adaptable basado en el regresor para seguimiento de trayectorias aplicado a un quadrotor

Ivan Alonso Lopez-Sanchez; Ricardo Moreno-Valenzuela; Ricardo Ramón Pérez-Alcocer

doi:10.29057/icbi.v10iEspecial4.9191

Ivan Alonso Lopez-Sanchez Instituto Politécnico Nacional https://orcid.org/0000-0002-7263-7356
Ricardo Moreno-Valenzuela Instituto Politécnico Nacional https://orcid.org/0000-0003-0670-5979
Ricardo Ramón Pérez-Alcocer Universidad de Sonora https://orcid.org/0000-0002-1543-3701

DOI: https://doi.org/10.29057/icbi.v10iEspecial4.9191

Keywords: Adaptive control, Lyapunov stability, nonlinear control, parameter uncertainty, quadrotor

Abstract

This document presents a regressor-based adaptive controller that works as an external loop controller for a quadrotor that already has an inaccessible inner loop controller. The proposed controller is conceived for trajectory tracking tasks and to operate without prior knowledge of the quadrotor parameters, as well as the internal controller. The stability of the state space origin is analyzed by means of the Lyapunov theory from which the parameter adaptation law is obtained, as well as the tuning rules, thus guaranteeing the functionality of the proposed controller. In addition, the results of the numerical simulations demonstrated the functionality of the proposed controller as well its robustness to parameter uncertainties .

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