In this research, to achieve the altitude and attitude tracking control of an underactuated quadrotor UAV with mismatched uncertainties, based upon Udwadia–Kalaba theory, a novel adaptive robust tracking control approach is proposed and which will be designed in two steps. First, aiming at the uncertain and underactuated quadrotor UAV, regardless of initial constraint deviation and mismatched uncertainties, a nominal control is constructed through transforming the desired trajectories into corresponding servo constraints; second, for the mismatched uncertainties, we decompose them into two parts, i.e. the matched part and mismatched part, and the mismatched part will “vanish” during the stability analysis of proposed adaptive robust controller. Eventually, with such a decomposition technique, the large mismatched uncertainties can be addressed properly and the burden of controller design will be reduced to a certain degree. In addition, two deterministic robust control performances are also guaranteed by our proposed approach. The simulation results have shown a good robustness and tracking precision of our proposed scheme for quadrotor UAV.

在这项研究中，为了实现具有不确定性不匹配的欠驱动四旋翼无人机的高度和姿态跟踪控制，基于Udwadia–Kalaba理论，提出了一种新颖的自适应鲁棒跟踪控制方法，该方法将分两步进行设计。首先，针对不确定和驱动不足的四旋翼无人机，不管初始约束偏差和不匹配的不确定性如何，通过将所需轨迹转换为相应的伺服约束来构造名义控制。其次，对于不匹配的不确定性，我们将它们分解为两个部分，即匹配部分和不匹配部分，并且在提出的自适应鲁棒控制器的稳定性分析过程中，不匹配部分将“消失”。最终，通过这种分解技术，较大的失配不确定性可以得到适当解决，控制器设计的负担将在一定程度上减轻。此外，我们提出的方法还保证了两个确定性鲁棒控制性能。仿真结果表明，我们提出的四旋翼无人机方案具有良好的鲁棒性和跟踪精度。