A robust control method based on extremum seeking is proposed for the attitude tracking problem of quadrotor UAV with uncertainty.Firstly,a nonlinear attitude model of a four rotor UAV was established,and considering the uncer-tainty of model parameters,a robust controller was designed to ensure the dynamic boundedness of tracking errors.Sec-ondly,a learning-based controller was designed by combining a robust controller with a model-free learning algorithm,which automatically and iteratively adjusted the feedback gain of the robust controller and optimized the expected perfor-mance cost function online.Finally,numerical simulations were performed using MATLAB,which demonstrated a reduc-tion of 0.246 in the steady-state tracking error of the proposed control method compared to the classical robust control method.This result confirms the robustness and superiority of the proposed method.
quadrotor UAVattitude trackingextremum seekingfeedback gain tuning
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