Computational Adaptive Optimal Tracking Control of Quadrotor UAV Based on Robust Control with Unknown Dynamics

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.