Abstract
In this paper, a data-driven control algorithm based on the Dynamic Surface Control and the Action-Dependent Heuristic Dynamic Programming is proposed to realize the stable tracking control of the quadrotor. Firstly, the dynamic surface control is addressed for the nonlinear model of the quadrotor, which can overcomethe “explosion of complexity” problem encountered in traditional back-stepping method inevitably. The controller designed by Dynamic Surface Control is served as the main controller in the total control structure. Secondly,the Action-Dependent Heuristic Dynamic Programming is investigated to construct a complementary attitude controller by involving the learning mechanism. The adoption of Action-Dependent Heuristic Dynamic Programmingcan provide the capability of adaptation and disturbance rejection to improve the tracking control performance effectively. The overall closed-loop system is proved to be asymptotically stable by the Lyapunov theorem. Finally,the numerical simulation and flight experiments are presented to demonstrate that the proposed tracking control scheme exhibits an excellent tracking performance in the case of external disturbances.
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This work was supported by the Research Project of Tianjin Municipal Education Commission 2017KJ249.
Qiang Gao received his B.S. degree from the School of Electrical Engineering at Tianjin University of Technology, China, in 1996. He is currently working as a Professor in the School of Electrical and Electronic Engineering, Tianjin University of Technology, China. He has undertaken a number of vertical scientific research projects such as the National Natural Science Foundation of China and the Tianjin Young and Middle-aged Key Projects, and has carried out a number of major horizontal projects with CNOOC, Sinopec, and China National Automotive Engineering Corporation. His research interests include ADRC control, Nonlinear Control for Quadrotor.
Xin-Tong Wei received his B.S. degree in Tianjin University of Technology majoring in automation, Tianjin, in 2018, which he is pursuing a master’s degree. His research interests include adaptive dynamic programming, UAV control and nonlinearcontrol.
Da-Hua Li received his M.S. degree inmechanical manufacturing and automation from Guangxi University, Guangxi, China,in 2004. He had been an Associate Professor at the School of Electrical and ElectronicEngineering, Tianjin University of Technology, Tianjin, China, since 2004.He is also the Director in Electrical and Electronic Center, Tianjin University ofTechnology, China. His current research interests include machine vision, 3D inspection system, and binocular ranging.
Yue-Hui Ji received her B.S. and Ph.D. degrees from the School of Electrical Engineering and Automation at Tianjin University, China, in 2009 and 2012, respectively. She is currently working as a lecturer in the School of Electrical and Electronic Engineering, Tianjin University of Technology, China. Her research interests include nonlinear adaptive control, decentralized control for interconnected systems.
Chao Jia received his B.E. and M.E. degrees from Tianjin University of Technology, Tianjin, China, in 2002 and 2008, respectively, and a Ph.D. degree from Tianjin University, Tianjin, China, in 2013. He joined the School of Electrical and Electronic Engineering, Tianjin University of Technology, China, in 2002, becoming an Associate Professor in 2013. He was a Visiting Scholar with Columbia University, NY, USA, from 2016 to 2017. His current research interests include nonlinear control, adaptive control, repetitive control, as well as their applications.
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Gao, Q., Wei, XT., Li, DH. et al. Tracking Control for a Quadrotor via Dynamic Surface Control and Adaptive Dynamic Programming. Int. J. Control Autom. Syst. 20, 349–363 (2022). https://doi.org/10.1007/s12555-020-0812-z
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DOI: https://doi.org/10.1007/s12555-020-0812-z