Adaptive maneuvering control of a quadrotor UAV using double dynamic filters

i

This article has been updated. A Correction to this article was published on .

i

The Original Article was published on

i

The Original Article was published on

i

This article has been updated

i

This article was retracted on

i

This article has been updated

Abstract

This paper proposes an adaptive maneuvering control for a quadrotor unmanned aerial vehicle with position constrained by geometric equations and unknown parameters. Based on the structural characteristics of the quadrotors, the inner–outer-loop controller is designed for two cascaded subsystems to solve the maneuvering problem of the position subsystem and the Euler angle tracking problem of the attitude subsystem. Meanwhile, double dynamic filters are incorporated into the the inner-loop control to eliminate the coefficient explosion problem of virtual signal differentiation. By treating the coupling term as a perturbation, the semi-global practical stability of the closed-loop system is established. Finally, the effectiveness of the obtained results are demonstrated by numerical simulations.

Keywords

unmanned aerial vehicle / maneuvering control / double dynamic filter

CHANGE HISTORY

A Correction to this paper has been published:
https://doi.org

The Retraction Note was updated to reflect reception of statements of disagreement from all authors.

This article has been retracted.Please see the Retraction Notice for more detail:
https://doi.org

References

[1] L. N. Zheng, Z. J. Zhang, Convergence and robustness analysis of novel adaptive multilayer neural dynamics-based controllers of multirotor UAVs, IEEE Trans. Cybern., 51 (2021), 3710-3723. https://doi.org/10.1109/TCYB.2019.2923642

[2] L. N. Zheng, F. Q. Deng, Z. L. Yu, Y. M. Luo, Z. J. Zhang, Multilayer neural dynamics-based adaptive control of multirotor UAVs for tracking time-varying tasks, IEEE Trans. Syst. Man Cybern. Syst., 52 (2022), 5889-5900. https://doi.org/10.1109/TSMC.2021.3130748

[3] J. Olguin-Roque, S. Salazar, I. González Hernandez, R. Lozano, A robust fixed-time sliding mode control for quadrotor UAV, Algorithms, 16 (2023), 229. https://doi.org/10.3390/a16050229

[4] M. Khodaverdian, S. Hajshirmohamadi, A. Hakobyan, S. Ijaz, Predictor-based constrained fixed-time sliding mode control of multi-UAV formation flight, Aerosp. Sci. Technol., 148 (2024), 109113. https://doi.org/10.1016/j.ast.2024.109113

[5] H. Z. Guo, M. Chen, Y. H. Shen, M. Lungu, Distributed event-triggered collision avoidance formation control for QUAVs with disturbances based on virtual tubes, IEEE Trans. Ind. Electron., 72 (2025), 1892-1903. https://doi.org/10.1109/TIE.2024.3417975

[6] X. B. Lin, J. Liu, Y. Yu, C. Y. Sun, Event-triggered reinforcement learning control for the quadrotor UAV with actuator saturation, Neurocomputing, 415 (2020), 135-145. https://doi.org/10.1016/j.neucom.2020.07.042

[7] F. Hu, T. D. Ma, X. J. Su, Adaptive fuzzy sliding-mode fixed-time control for quadrotor unmanned aerial vehicles with prescribed performance, IEEE Trans. Fuzzy Syst., 32 (2024), 4109-4120. https://doi.org/10.1109/TFUZZ.2024.3393763

[8] L. F. Hua, W. H. Wang, K. B. Shi, J. Yang, Q. S. Zhong, H. J. Liang, Safety-critical fixed-time trajectory tracking of quadrotor UAVs via event-triggered prescribed performance sliding mode control, IEEE Trans. Consum. Electron., 72 (2026), 1821-1830. https://doi.org/10.1109/TCE.2025.3650623

[9] K. Liu, L. Jiao, Y. Zhang, P. Y. Zhao, Adaptive predefined-time prescribed performance control with application to a quadrotor UAV, IEEE Trans. Aerosp. Electron. Syst., 62 (2026), 4751-4770. https://doi.org/10.1109/TAES.2026.3654056

[10] O. Mofid, S. Mobayen, Robust fractional-order sliding mode tracker for quad-rotor UAVs: event-triggered adaptive backstepping approach under disturbance and uncertainty, Aerosp. Sci. Technol., 146 (2024), 108916. https://doi.org/10.1016/j.ast.2024.108916

[11] J. Baek, M. Kang, A synthesized sliding-mode control for attitude trajectory tracking of quadrotor UAV systems, IEEE/ASME Trans. Mechatron., 28 (2023), 2189-2199. https://doi.org/10.1109/TMECH.2022.3230755

[12] M. D. Golea, M. Lungu, R. Wang, D. G. Voinea, High-order disturbance observer-based backstepping sliding mode control of the under-actuated uncertain quadrotor unmanned aerial vehicles, in 2025 29th International Conference on System Theory, Control and Computing (ICSTCC), (2025), 679-684. https://doi.org/10.1109/ICSTCC66753.2025.11240397

[13] L. X. Xu, H. J. Ma, D. Guo, A. H. Xie, D. L. Song, Backstepping sliding-mode and cascade active disturbance rejection control for a quadrotor UAV, IEEE/ASME Trans. Mechatron., 25 (2020), 2743-2753. https://doi.org/10.1109/TMECH.2020.2990582

[14] Z. J. Wang, T. Zhao, Based on robust sliding mode and linear active disturbance rejection control for attitude of quadrotor load UAV, Nonlinear Dyn., 108 (2022), 3485-3503. https://doi.org/10.1007/s11071-022-07349-y

[15] H. Liu, Y. F. Lyu, W. B. Zhao, Robust visual servoing formation tracking control for quadrotor UAV team, Aerosp. Sci. Technol., 106 (2020), 106061. https://doi.org/10.1016/j.ast.2020.106061

[16] H. Z. Guo, M. Chen, B. M. Li, Distributed event-triggered collision avoidance coordinated control for QUAVs based on flexible virtual tubes, Chin. J. Aeronaut., 38 (2025), 103300. https://doi.org/10.1016/j.cja.2024.11.010

[17] M. Jabeen, Q. H. Meng, H. R. Hou, H. Y. Li, Odor source localization in outdoor building environments through distributed cooperative control of a fleetof UAVs, Expert Syst. Appl., 247 (2024), 123332. https://doi.org/10.1016/j.eswa.2024.123332

[18] K. Liu, W. Y. Yang, L. Jiao, Z. P. Yuan, C. Y. Wen, Fast fixed-time distributed neural formation control-based disturbance observer for multiple quadrotor UAVs under unknown disturbances, IEEE Trans. Aerosp. Electron. Syst., 61 (2025), 13137-13155. https://doi.org/10.1109/TAES.2025.3578046

[19] R. Skjetne, T. I. Fossen, P. V. Kokotović, Robust output maneuvering for a class of nonlinear systems, Automatica, 40 (2004), 373-383. https://doi.org/10.1016/j.automatica.2003.10.010

[20] R. Skjetne, T. I. Fossen, P. V. Kokotović, Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory, Automatica, 41 (2005), 289-298. https://doi.org/10.1016/j.automatica.2004.10.006

[21] D. Cabecinhas, R. Cunha, C. Silvestre, A globally stabilizing path following controller for rotorcraft with wind disturbance rejection, IEEE Trans. Control Syst. Technol., 23 (2015), 708-714. https://doi.org/10.1109/TCST.2014.2326820

[22] S. Z. Wu, X. Liang, Y. C. Fang, W. He, Geometric maneuvering for under-actuated VTOL vehicles, IEEE Trans. Autom. Control., 69 (2024), 1507-1519. https://doi.org/10.1109/TAC.2023.3324268

[23] F. Kendoul, Nonlinear hierarchical flight controller for unmanned rotorcraft: design, stability, and experiments, J. Guid. Control Dyn., 32 (2009), 1954-1958. https://doi.org/10.2514/1.43768

[24] R. Naldi, M. Furci, R. G. Sanfelice, L. Marconi, Robust global trajectory tracking for under-actuated VTOL aerial vehicles using inner-outer loop control paradigms, IEEE Trans. Autom. Control, 62 (2016), 97-112. https://doi.org/10.1109/TAC.2016.2557967

[25] L. Martins, C. Cardeira, P. Oliveira, Global trajectory tracking for quadrotors: An MRP-based hybrid strategy with input saturation, Automatica, 162 (2024), 111521. https://doi.org/10.1016/j.automatica.2024.111521

[26] M. Micu, M. Lungu, M. Chen, M. R. Ebrahimpour, Four-stage cascaded control scheme based on robust nonlinear dynamic inversion technique for quadrotors, in 2024 28th International Conference on System Theory, Control and Computing (ICSTCC), (2024), 235-240. https://doi.org/10.1109/ICSTCC62912.2024.10744662

[27] M. R. Mokhtari, B. Cherki, A. C. Braham, Disturbance observer based hierarchical control of coaxial-rotor UAV, ISA Trans., 67 (2017), 466-475. https://doi.org/10.1016/j.isatra.2017.01.020

[28] J. A. Farrell, M. Polycarpou, M. Sharma, W. J. Dong, Command filtered backstepping, IEEE Trans. Autom. Control, 54 (2009), 1391-1395. https://doi.org/10.1109/TAC.2009.2015562

[29] P. Castillo, R. Lozano, A. E. Dzul, Modelling and Control of Mini-Flying Machines, Springer-Verlag, 2005. https://doi.org/10.1007/1-84628-179-2

[30] G. Cai, B. M. Chen, T. H. Lee, Unmanned Rotorcraft Systems, Springer Science & Business Media, London, 2011. https://doi.org/10.1007/978-0-85729-635-1

[31] K. Yan, M. Chen, Q. X. Wu, B. Jiang, Extended state observer-based sliding mode fault-tolerant control for unmanned autonomous helicopter with wind gusts, IET Control Theory Appl., 13 (2019), 1500-1513. https://doi.org/10.1049/iet-cta.2018.5341

[32] K. Yan, M. Chen, Q. X. Wu, R. G. Zhu, Robust adaptive compensation control for unmanned autonomous helicopter with input saturation and actuator faults, Chin. J. Aeronaut., 32 (2019), 2299-2310. https://doi.org/10.1016/j.cja.2019.06.001

[33] C. Yang, Z. J. Wu, Adaptive robust maneuvering control for nonlinear systems via dynamic surface technique, Nonlinear Dyn., 111 (2023), 8369-8381. https://doi.org/10.1007/s11071-023-08289-x

[34] R. Rashad, A. Aboudonia, A. El-Badawy, A novel disturbance observer-based backstepping controller with command filtered compensation for a MIMO system, J. Franklin Inst., 353 (2016), 4039-4061. https://doi.org/10.1016/j.jfranklin.2016.07.017