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
收藏
页码：2475 / 2480
页数：6
相关论文
共 50 条
  • [21] Adaptive Fuzzy Backstepping Control for Trajectory Tracking of Unmanned Aerial Quadrotor
    Yacef, Fouad
    Bouhali, Omar
    Hamerlain, Mustapha
    2014 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS), 2014, : 920 - 927
  • [22] Adaptive command filtered backstepping tracking controller design for quadrotor unmanned aerial vehicle
    Choi, In-Ho
    Bang, Hyo-Choong
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING, 2012, 226 (G5) : 483 - 497
  • [23] Nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization
    Mohd Basri, Mohd Ariffanan
    Husain, Abdul Rashid
    Danapalasingam, Kumeresan A.
    Journal of Engineering Science and Technology Review, 2015, 8 (03) : 39 - 45
  • [24] Design of Quadrotor Unmanned Aerial Vehicle
    Wu, Mofei
    Cheng, Zhigang
    Yang, Lin
    Xu, Lamei
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT III, 2017, 10464 : 25 - 34
  • [25] Fuzzy Model Predictive Control of a Quadrotor Unmanned Aerial Vehicle
    Hossny, Mohamed
    El-Badawy, Ayman
    Hassan, Ragi
    2020 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS'20), 2020, : 1704 - 1713
  • [26] Robust control with sliding mode for a quadrotor unmanned aerial vehicle
    Khelfi, Mohamed Faycal
    Kacimi, Abderrahmane
    2012 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), 2012, : 886 - 892
  • [27] Control System Design and implementation of a Quadrotor Unmanned Aerial Vehicle
    Xu, Dexin
    Li, Guangchun
    Wang, Lu
    INTELLIGENT SYSTEM AND APPLIED MATERIAL, PTS 1 AND 2, 2012, 466-467 : 749 - 753
  • [28] Nonlinear Adaptive Regulation Control of A Quadrotor Unmanned Aerial Vehicle
    Zeng, Wei
    Xian, Bin
    Diao, Chen
    Yin, Qiang
    Li, Haotao
    Yang, Yungao
    2011 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA), 2011, : 133 - 138
  • [29] A wavelet neural control scheme for a quadrotor unmanned aerial vehicle
    Jurado, F.
    Lopez, S.
    PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND ENGINEERING SCIENCES, 2018, 376 (2126):
  • [30] Survey of Advances in Control Algorithms of Quadrotor Unmanned Aerial Vehicle
    Li, Lebao
    Sun, Lingling
    Jin, Jie
    2015 IEEE 16TH INTERNATIONAL CONFERENCE ON COMMUNICATION TECHNOLOGY (ICCT), 2015, : 107 - 111
12345