Adaptive Dynamic Programming-Based Attitude Optimal Tracking Control for a Quadrotor with Unmeasured Velocities and Model Uncertainties  

作　　者：Junrui Guo Xiaoyang Gao Tieshan Li 

机构地区：[1]School of Automation Engineering University of Electronic Science and Technology of China Chengdu,Sichuan 611731,P.R.China

出　　处：《Guidance, Navigation and Control》2024年第2期25-46,共22页制导、导航与控制（英文）

基　　金：supported in part by the National Natural Science Foundation of China under the Grants 52301418,51939001,and 61976033.

摘　　要：This paper proposes an optimal output feedback tracking control scheme of the quadrotor unmanned aerial vehicle(UAV)attitude system with unmeasured angular velocities and model uncertainties.First,neural network(NN)is used to approximate the model uncertainties.Then,an NN velocity observer is established to estimate the unmeasured angular velocities.Further,a quadrotor output feedback attitude optimal tracking controller is designed,which consists of an adaptive controller designed by backstepping method and an optimal compensation term designed by adaptive dynamic programming.All signals in the closed-loop system are proved to be bounded.Finally,numerical simulation example shows that the quadrotor attitude tracking scheme is effective and feasible.

关 键 词：QUADROTOR optimal tracking control neural network velocity observer model uncertainties adaptive dynamic programming 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1