Prescribed performance backstepping control for quadrotor UAV with output error constraint

被引：0
|
作者：
Wang F. [1 ]
Gao Y.-L. [1 ]
Zhang Z. [1 ]
Hua C.-C. [2 ]
机构：
[1] School of Science, Yanshan University, Qinhuangdao
[2] School of Electrical Engineering, Yanshan University, Qinhuangdao
来源：
Kongzhi yu Juece/Control and Decision | 2021年 / 36卷 / 05期
关键词：
Backstepping control; Disturbance observer; Output error constraint; Prescribed performance; Quadrotor unmanned;
D O I：
10.13195/j.kzyjc.2019.1249
中图分类号：
学科分类号：
摘要：
The quadrotor unmanned tracking control problem in the external disturbance and constraints of the output error is investigated in this paper. Firstly, the dynamics model of the quadrotor UAV is transformed into a strict feedback form with the external disturbances. Then, the backstepping method is used to design the controller, the barrier Lyapunov function is introduced to ensure the prescribed performance of the tracking error, the disturbance observer is designed to estimate the external disturbance, and the derivatives of some virtual control inputs in the attitude subsystem are estimated through the filter. The stability analysis shows that the designed controller can guarantee the bounded stability of the tracking error, and the tracking error remains within the preset boundary. Finally, the simulation results verify the effectiveness of the proposed control strategy. Copyright ©2021 Control and Decision.
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页码：1059 / 1068
页数：9
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