Disturbance Observer-Based Integral Backstepping Control for UAVs

被引：0

作者：

Moeini, Amir ^{[1
]}

Rafique, Muhammad Awais ^{[1
]}

Xue, Zhijun ^{[2
]}

Lynch, Alan E. ^{[1
]}

Zhao, Qing ^{[1
]}

机构：

[1] Univ Alberta, Dept Elect & Comp Engn, Edmonton, AB, Canada

[2] Huazhong Univ Sci & Technol, Wuhan, Peoples R China

来源：

2020 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS'20) | 2020年

关键词：

TRAJECTORY TRACKING CONTROL; QUADROTOR;

D O I：

10.1109/icuas48674.2020.9213948

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 paper a disturbance observer-based integral backstepping nonlinear motion control for a multirotor unmanned aerial vehicle (UAV) is proposed. The closed-loop is proven globally exponentially stable for the complete UAV dynamics and constant disturbances. Software-in-the-loop (SITL) simulation is used to evaluate the performance of the proposed control on the open-source PX4 autopilot. The simulation results demonstrate the proposed method's robustness and steady state error performance.

引用

页码：382 / 388

页数：7

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