Adaptive Integral Backstepping Control for Trajectory Tracking of a Quadrotor

被引：0
作者：
Fan, Yunsheng [1 ]
Cao, Yabo [1 ]
Li, Tieshan [2 ]
机构：
[1] Dalian Maritime Univ, Sch Informat Sci & Technol, Dalian 116026, Peoples R China
[2] Dalian Maritime Univ, Nav Coll, Dalian 116026, Peoples R China
来源：
2017 4TH INTERNATIONAL CONFERENCE ON INFORMATION, CYBERNETICS AND COMPUTATIONAL SOCIAL SYSTEMS (ICCSS) | 2017年
关键词：
QBall2; Quadrotor; Adaptive Integral Backstepping; Trajectory Tracking;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an adaptive integral backstepping control strategy to solve the problem of accurate trajectory tracking for a quadrotor Unmanned Aerial Vehicle (UAV) in the presence of model parameters uncertainties and external disturbances. In this paper, the mathematical model of the quadrotor considering the characteristics of the actuator is established and the virtual control is mapped to the control of the motor; then a nonlinear trajectory tracking controller based on integral backstepping method is designed. The stability analysis of the designed adaptive integral backstepping controller is achieved via a suitable Lyapunov function. The simulation results verify the validity and accuracy of designed trajectory tracking controller.
引用
收藏
页码：619 / 624
页数：6
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