Journal of Projectiles, Rockets, Missiles and Guidance >
Quadrotor Longitudinal Controller Based on L1 Adaptive Control Method
Received date: 2011-03-01
Online published: 2025-05-30
Focused on the characteristics of under-actuation, high-coupling, high-chattering and non-zero initial error of the quadrotor attitude control system, a longitudinal adaptive controller was designed by a novel L1 adaptive control method in which the nonlinearity and coupling were regarded as time-varying vectors or disturbances. It breaks through the frequency limit of time-varying parameters of traditional adaptive control method, and the problem of high frequency disturbances caused by quadrotor oscillation was restrained effectively. The controller could avoid transient deviation and ensure the input moment being uniformly bounded in the control range under the condition of non-zero trajectory initialization error. The robustness of the method was proved by simulation.
WANG Donglai , LV Qiang , LIU Feng , WANG Keke . Quadrotor Longitudinal Controller Based on L1 Adaptive Control Method[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2011 , 31(6) : 37 -40 . DOI: 10.15892/j.cnki.djzdxb.2011.06.021
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