ROBUST INTEGRAL BACKSTEPPING CONTROL OF QUADROTORS

被引：0

作者：

Poultney, Alexander ^{[1
]}

Gong, Peiyan ^{[1
]}

Ashrafiuon, Hashem ^{[1
]}

机构：

[1] Villanova Univ, Dept Mech Engn, Ctr Nonlinear Dynam & Control, Villanova, PA 19085 USA

来源：

PROCEEDINGS OF THE ASME 10TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2017, VOL 2 | 2017年

关键词：

TRAJECTORY TRACKING CONTROL; SLIDING MODE CONTROL; CONTROL DESIGN; GENERATION; UAV;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel trajectory tracking, hovering, and yaw motion control is presented for fully nonlinear model of quadrotors based on integral backstepping. The control law is developed by relating the second time derivatives of linear accelerations to thrust force and roll and pitch moments. A separate control law is then derived for yaw motion. The controller is shown to be asymptotically convergent in presence of modeling uncertainties and constant disturbances. Several simulations and experiments are performed with a quadrotor to verify the controller performance.

引用

页数：9

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