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Tracking Control for a Quadrotor via Dynamic Surface Control and Adaptive Dynamic Programming

Qiang Gao, Xin-Tong Wei, Da-Hua Li*, Yue-Hui Ji, and Chao Jia
International Journal of Control, Automation, and Systems, vol. 20, no. 1, pp.349-363, 2022

Abstract : In this paper, a data-driven control algorithm based on the Dynamic Surface Control and the ActionDependent 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 overcome the “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 Programming can 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.

Keyword : "Adaptive dynamic programming, dynamic surface control, quadrotor, tracking control. "

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