Title: Adaptive tracking control of quad-rotor helicopter in quaternion based on input-output linearisation with online estimation of inertia moment

Authors: Yuta Kutsuna; Makoto Ando; Manabu Yamada

Addresses: Department of Engineering, Electronics and Mechanics, Graduate School of Engineering, Nagoya Institute of Technology, Nagoya, 466-8555, Japan ' Department of Engineering, Electronics and Mechanics, Graduate School of Engineering, Nagoya Institute of Technology, Nagoya, 466-8555, Japan ' Department of Engineering, Electronics and Mechanics, Graduate School of Engineering, Nagoya Institute of Technology, Nagoya, 466-8555, Japan

Abstract: In this paper, we consider problems of controlling the position of a quad-rotor helicopter in the quaternion. The quad-rotor helicopter is described by a set of nonlinear equations, which make it difficult to control. This paper presents a useful exact input-output linearisation in the quaternion of the helicopter by using a non-singular input transformation. This linearisation provides both simple controller designs and higher level control performance, for example, the H-infinity control. In addition, this paper presents an adaptive tracking controller with online estimation of the uncertain inertia parameters to make the tracking error zero asymptotically for the position.

Keywords: quad-rotor helicopters; quaternion; nonlinear systems; linearisation; adaptive control; position control; online estimation; inertia parameters; H-infinity control; tracking control.

DOI: 10.1504/IJAMECHS.2015.072827

International Journal of Advanced Mechatronic Systems, 2015 Vol.6 No.5, pp.237 - 246

Available online: 03 Nov 2015 *

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