Finite-time backstepping control for quadrotor UAV with uncertain disturbances

被引：0
|
作者：
Xu, Haowen
Zhou, Yingjiang [1 ]
Jiang, Guoping
Yang, Huan
Han, Shihao
Li, Xianwen
机构：
[1] Nanjing Univ Posts & Telecommun, Coll Automat, Nanjing, Peoples R China
来源：
2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2023年
基金：
中国国家自然科学基金;
关键词：
quadrotor UAV; finite-time; extended state observer; Backstepping method; disturbance rejection; STABILITY;
D O I：
10.1109/CCDC58219.2023.10327200
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, the finite-time backstepping method is presented for quadrotor UAV with uncertain external disturbances and model parameter uncertainties. First, a finite-time extended state observer (FTESO) is proposed, which can accurately compensate the complex unknown disturbance of the system in finite time and increase the anti-disturbance capability of quadrotor UAV. After that, the finite-time backstepping controller (FTBC) is designed to improve the control accuracy of the system and achieve the stability of attitude angle system in finite time. Finally, the effectiveness of the control methods are verified through theoretical proof and numerical simulation.
引用
收藏
页码：2803 / 2808
页数：6
相关论文
共 50 条
  • [1] Finite-Time Adaptive Fuzzy Backstepping Control for Quadrotor UAV With Stochastic Disturbance
    Yu, Dengxiu
    Ma, Shizhuo
    Liu, Yan-Jun
    Wang, Zhen
    Chen, C. L. Philip
    IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2024, 21 (02) : 1335 - 1345
  • [2] Adaptive finite-time backstepping control tracker for quadrotor UAV with model uncertainty and external disturbance
    Wang, Jianghua
    Alattas, Khalid A.
    Bouteraa, Yassine
    Mofid, Omid
    Mobayen, Saleh
    AEROSPACE SCIENCE AND TECHNOLOGY, 2023, 133
  • [3] Distributed Adaptive Finite-Time Compensation Control for UAV Swarm With Uncertain Disturbances
    Zhang, Jialong
    Zhang, Pu
    Yan, Jianguo
    IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS, 2021, 68 (02) : 829 - 841
  • [4] Finite-time Adaptive Integral Backstepping Fast Terminal Sliding Mode Control Application on Quadrotor UAV
    Eliker, Karam
    Zhang, Weidong
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2020, 18 (02) : 415 - 430
  • [5] Finite-time Adaptive Integral Backstepping Fast Terminal Sliding Mode Control Application on Quadrotor UAV
    Karam Eliker
    Weidong Zhang
    International Journal of Control, Automation and Systems, 2020, 18 : 415 - 430
  • [6] Finite-Time Adaptive Fuzzy Quantized Control for a Quadrotor UAV
    Yang, Wei
    Cui, Guozeng
    Yu, Jinpeng
    Tao, Chongben
    Li, Ze
    IEEE ACCESS, 2020, 8 : 179363 - 179372
  • [7] Adaptive Multivariable Finite-time Attitude Control for Quadrotor UAV
    Tian, Bailing
    Ma, Yuxin
    Liu, Lihong
    Zong, Qun
    2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 9792 - 9796
  • [8] Finite-Time Attitude Control for Quadrotor with Input Constraints and Disturbances
    Gao, Zijun
    Wang, Jin
    Tian, Yaping
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2020, 2020
  • [9] Finite-Time Backstepping Control for Quadrotors With Disturbances and Input Constraints
    Jiang, Tao
    Lin, Defu
    Song, Tao
    IEEE ACCESS, 2018, 6 : 62037 - 62049
  • [10] Adaptive sliding mode finite-time control for quadrotor UAV with unknown external disturbances and drag coefficients
    Wu, Xiaojing
    Zheng, Wenyan
    2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC), 2021, : 520 - 525
12345