Backstepping control for a quadrotor unmanned aerial vehicle

被引：4

作者：

Huang, Tianpeng ^{[1
]}

Huang, Deqing ^{[1
]}

机构：

[1] Southwest Jiaotong Univ, Sch Elect Engn, Chengdu, Peoples R China

来源：

2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年

关键词：

quadrotor unmanned aerial vehicle; backstepping control; external disturbance; TRAJECTORY TRACKING CONTROL; SLIDING MODE CONTROL; UAV;

D O I：

10.1109/CAC51589.2020.9326765

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the tracking problem of altitude and three attitude angles of a quadrotor unmanned aerial vehicle (UAV) considering external disturbance via backstepping control strategy. Firstly, the dynamics of quadrotor system is introduced. Secondly, the backstepping controller is derived based on dynamics of quadrotor. In addition, the tracking errors in altitude and attitude channels are eliminated asymptotically using the proposed control scheme. Finally, simulation and comparison are carried out to illustrate the overall performance of the proposed control algorithm.

引用

页码：2475 / 2480

页数：6

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