This paper proposes an adaptive dynamic programming(ADP)based robust optimal trajectory tracking strategy for quadrotor unmanned aerial vehicles(QUAV)with constraints of external disturbance and input delay.Firstly,disturbances observer technique is applied to estimate external disturbance in both position and attitude loops;Then,the input delay constraint is handled with Padé approximate method;And a single network ADP algorithm based robust trajectory tracking strategy under backstepping farm is designed;Finally,Lyapunov method is applied for stability analysis of whole closed-loop system,and simulation tests are carried out for QUAV dynamics model to verify the reliability of proposed robust optimal flight control strategy.
关键词
自动控制/四旋翼无人机/输入时滞/自适应动态规划/最优飞行控制
Key words
automatic control/quadrotors unmanned aerial vehicle/input delay/adaptive dynamic programming/optimal flight control
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