Trajectory Tracking Control for a Quadrotor UAV Based on Improved Backstepping

被引：4

作者：

Zhou L.-H. ^{[1
]}

Dou J.-X. ^{[1
]}

Zhang J.-Q. ^{[1
]}

Wen B.-C. ^{[1
]}

机构：

[1] School of Mechanical Engineering & Automation, Northeastern University, Shenyang

来源：

Dongbei Daxue Xuebao/Journal of Northeastern University | 2018年 / 39卷 / 01期

关键词：

Backstepping control; Error integral; Quadrotor UAV; Saturation function; Trajectory tracking;

D O I：

10.12068/j.issn.1005-3026.2018.01.014

中图分类号：

学科分类号：

摘要：

Quadrotor unmanned aerial vehicle (UAV) is an underactuated, strongly coupled and highly unstable nonlinear system. The robustness and ability of anti-jamming for UAV system are the key problems of flight control. In order to restrain constant disturbance and variable disturbance during UAV flight, a novel control method named integral saturation backstepping control (ISBC) was proposed by introducing both the error integral and saturation function into classical backstepping control (CBC). The system stability was verified by the Lyapunov stability theorem. The simulation experiment of trajectory tracking was carried out using MATLAB/SIMULINK. Results of simulation experiment indicate that the quadrotor UAV system with ISBC control strategy performs better for anti-jamming and superior robustness than that with CBC control strategy. © 2018, Editorial Department of Journal of Northeastern University. All right reserved.

引用

页码：66 / 70

页数：4

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