Disturbance observer-based nonlinear control of a quadrotor UAV

被引：10

作者：

Moeini A. ^{[1
]}

Lynch A.F. ^{[1
]}

Zhao Q. ^{[1
]}

机构：

[1] Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB

来源：

Advanced Control for Applications: Engineering and Industrial Systems | 2020年 / 2卷 / 01期

关键词：

backstepping; disturbance observer; robust nonlinear control; trajectory tracking; unmanned aerial vehicles;

D O I：

10.1002/adc2.24

中图分类号：

学科分类号：

摘要：

This paper proposes a nonlinear backstepping-based trajectory tracking control for a quadrotor unmanned aerial vehicle. By incorporating a disturbance observer, the method provides globally exponentially stable tracking error dynamics in the presence of constant force and torque disturbances for position tracking. For time-varying disturbances, the tracking error is proven to be ultimately bounded. Simulation results illustrates the robust performance and reduced complexity of the proposed control law. © 2019 John Wiley & Sons, Ltd.

引用

共 35 条

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