@inproceedings{8ae7e2a9dae9488587d40dfc1bb9b244,
title = "Computational Adaptive Optimal Tracking Control of Quadrotor UAV Based on Robust Control with Unknown Dynamics",
abstract = "In this paper, an adaptive optimal tracking control for a quadrotor unmanned areial vehicle (UAV) with unknown dynamics was proposed. A model-free optimal tracking control scheme is designed to solve the problem that quadrotor UAV is difficult to model accurately due to its complex dynamics. Firstly, the model of a four-rotor UAV based on robust control was built. The nominal model of linear and decoupling for each subsystem is given and coupling and nonlinear dynamics, parametric perturbations and external perturbations are considered as uncertainties. Then, a strategy iteration method is proposed to find an online adaptive optimal tracking controller for the nominal model system of quadrotor with completely unknown system dynamics. Finally, simulation results are given to illustrates the effectiveness of the proposed method.",
keywords = "Adaptive Optimal Control, Decoupled Control, Linear-quadratic Regulator, Policy Iterations, Robust Control",
author = "Jiaqi Bai and Yankai Wang and Hao Xing",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 33rd Chinese Control and Decision Conference, CCDC 2021 ; Conference date: 22-05-2021 Through 24-05-2021",
year = "2021",
doi = "10.1109/CCDC52312.2021.9602622",
language = "English",
series = "Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4747--4752",
booktitle = "Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021",
address = "United States",
}